CN205521490U - Cartridge type structure telescoping device of manipulator - Google Patents
Cartridge type structure telescoping device of manipulator Download PDFInfo
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- CN205521490U CN205521490U CN201620233776.2U CN201620233776U CN205521490U CN 205521490 U CN205521490 U CN 205521490U CN 201620233776 U CN201620233776 U CN 201620233776U CN 205521490 U CN205521490 U CN 205521490U
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- telescopic arm
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- mechanical hand
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Abstract
The utility model discloses a cartridge type structure telescoping device of manipulator, including drive mechanism, flexible arm and protective structure, flexible arm is the square tubular structure of cast aluminium, protective structure is by upper cover plate and the lower square tube -shape box of forming of lapping, flexible arm passes through slider and guide rail and protective structure sliding connection to be connected through screw nut and drive mechanism, drive mechanism hides in protective structure's box, drive mechanism includes driving motor, motor cabinet, shaft coupling and ball. The utility model discloses a kind of drive realizes by driving motor, motor cabinet, shaft coupling, flexible arm end cover, ball and guide rail that for prior art, the structure is simple more, the precision is high, the location is accurate, action coordination nature is good, and then can improve the efficiency of whole piece production line. The utility model relates to a simply, rational in infrastructure, can use the simplest structure to realize that the heavy burden of manipulator is flexible, save power, safe and reliable.
Description
Technical field
This utility model relates to automation equipment field, is specifically related to a kind of mechanical hand retractor device.
Background technology
The mode of production of domestic current numerous production enterprises is main or the mode of production that labour force is intensive,
This mode of production production efficiency is low, injury rate high, Product Precision cannot be protected.At present
Country actively pushes forward to produce the automation equipment with independent intellectual property right, and uses robotics
Replace the mode of production that tradition labour force is intensive.
The important ring changing tradition labour force's intensive style mode of production is exactly the flow production line of automatization, raw
The each link producing line carries out different operations according to different Production requirements, and these operations be unable to do without mechanical hand
Action, and for mechanical hand, telescopic arm is one of parts important in mechanical hand.
Current mechanical hand telescopic arm is the heaviest, and for completing the work of complexity, the structure of design is complex,
Also it is such for the simple mechanical hand of action, lacks the mechanical hand telescopic arm of design features simple structure at present.
In order to improve prior art, people have carried out long-term exploration, it is proposed that various solutions
Certainly scheme.Such as, Chinese patent CN201520575060.6 discloses a kind of mechanical hand telescopic arm, and this stretches
Arm includes drive mechanism, stretching structure and terminal, and described stretching structure connects described terminal and ties with described transmission
Structure also draws described terminal action under the drive of described drive mechanism, described stretching structure include mutually nested,
The next sleeve of the diminishing upper sleeve of bore, some intermediate sleeves and one, described upper sleeve, institute
State intermediate sleeve to slide along the sleeve being nested with it with described the next sleeve.Described upper sleeve,
Described intermediate sleeve lower end extends inwardly to form ring-type lower edge, and described ring-type lower edge connects with next stage sleeve outer wall
Touch, and can slide along.Described the next sleeve, described intermediate sleeve upper end stretch out and are formed on ring-type
Edge, described ring-type upper limb contacts with upper level sleeve lining, and can slide along.On described upper sleeve
End is upper sleeve upper limb, and it can be fixed with external fixation device；Under described the next sleeve lower end is
Position sleeve lower edge, described the next sleeve lower edge fixes with terminal downwards, is upwards connected with described drive mechanism.
Described ring-type lower edge includes a lower edge far-end baffle plate, a lower edge near-end baffle plate and some balls；Described lower edge is remote
End-stopping plate is the ring-shaped baffle structure that sleeve lower end extends inwardly to form；Described lower edge near-end baffle plate be one fix
Ring-shaped baffle structure on sleeve lining；Shape between described lower edge far-end baffle plate and described lower edge near-end baffle plate
Circularize groove, in described ball is placed on described cannelure and offset with next stage sleeve outer wall.Described ring-type
Upper limb includes a upper limb far-end baffle plate, a upper limb near-end baffle plate and some balls；Described upper limb far-end baffle plate is
Sleeve upper end stretch out formed ring-shaped baffle structure；Described upper limb near-end baffle plate is one to be fixed on outside sleeve
Ring-shaped baffle structure on wall；Cannelure is formed between described upper limb far-end baffle plate and described upper limb near-end baffle plate,
In described ball is placed on described cannelure and offset with upper level sleeve lining.Described upper sleeve is the 3rd
Sleeve, described the next sleeve is the first sleeve, and described intermediate sleeve quantity is the second sleeve.Described 3rd set
Cylinder is provided with the stopping means limiting described ring-type upper limb with described second sleeve.Described first sleeve lower end is
Seal structure, pass downwardly through screw and be connected with terminal, set up hook, be connected with described drive mechanism.
Although this telescopic arm to some extent solves the deficiencies in the prior art, but its operation need nonetheless remain for very
Many mechanisms complete, and require higher to coordination and mechanism element, and structure is complicated, whole production line
Efficiency the most relatively low.
Utility model content
For solving the problems referred to above that prior art exists, this utility model to design a kind of simple in construction, to dynamic
Make harmony and mechanism element is less demanding, the cylindrical structure of the mechanical hand that can improve whole production line efficiency is stretched
Compression apparatus.
For achieving the above object, the technical solution adopted in the utility model is as follows: the cartridge type knot of a kind of mechanical hand
Structure retractor device, including drive mechanism, telescopic arm and safeguard structure；Described telescopic arm is the square tube of cast aluminium
Shape structure；The square tubular casing that described safeguard structure is made up of upper cover plate and lower cover；Described telescopic arm
It is slidably connected with safeguard structure by slide block and guide rail, and is connected with drive mechanism by feed screw nut；Described
Drive mechanism is hidden in the casing of safeguard structure, and casing is provided with heat dissipation ventilation mouth；
Described drive mechanism includes driving motor, motor cabinet, shaft coupling and ball-screw, and described motor cabinet is solid
Being scheduled on lower cover, described driving motor is arranged on motor cabinet, drives motor through shaft coupling and ball-screw
Connecting, one end of described ball-screw is fixed on bearing block by two bearings, and described bearing block passes through spiral shell
Bolt is arranged on motor cabinet, and described bearing is solid by the rear end cap at its two ends, drive end bearing bracket and guide screw lock jack panel
Fixed, prevent bearing axial float；With anticollison block on described ball-screw, the other end of ball-screw passes through
Feed screw nut is arranged on telescopic arm end cap；Telescopic arm end cap is connected with telescopic arm right-hand member, telescopic arm bottom surface with
Slide block connects, and described slide block has four, four slide blocks the most respectively with two guide rails being fixed on lower cover
Fasten；Telescopic arm is provided with limited block；Tension disc is fixed in the left side of telescopic arm end cap, make cable with
Ball-screw is separately；The front portion of telescopic arm is provided with cover plate；
Being provided with drag chain and hauling-chain frame on described lower cover, one end of described drag chain is fixed on lower cover, separately
One end is fixed on hauling-chain frame；The cable entered by cover plate from telescopic arm front, by drag chain and driving electricity
The cable of machine merges into one and enters wire casing, then is entered in mechanical hand column by the cable hole of lower cover.
The grasping jig adpting flange of described telescopic arm front end is connected with mechanical hand grasping jig, described protection knot
The lower cover of structure is connected with the oscilaltion device of mechanical hand by lowering or hoisting gear adpting flange.
Further, described telescopic arm is arranged in safeguard structure, forms a double-layer box body space, will pass
Motivation structure, guide rail, slide block and feed screw nut and all cables are all arranged in double-layer box body space.
Further, described wire casing is arranged between two guide rails, is fixed by screws on lower cover.
Further, described anticollison block is arranged on ball-screw, is sleeved between feed screw nut and drive end bearing bracket.
Further, described limited block is arranged on telescopic arm side, is fixed by screws on telescopic arm.
Further, described feed screw nut is fixedly mounted on telescopic arm end cap, be threaded connection mode with
Ball-screw connects.
Further, described driving motor is connected with PLC control system by cable.
Further, described guide screw lock jack panel is arranged on ball-screw, against bearing inner race end face；Institute
Stating rear end cap to be arranged on bearing block rear end face, drive end bearing bracket is arranged on bearing block front end face.
Further, one end of described ball-screw is fixed on bearing block by two bearings, said two
Bearing is that cascade the most one in front and one in back form is arranged on bearing block.
Compared with prior art, the beneficial effects of the utility model are:
1, the kind of drive of the present utility model is by driving motor, motor cabinet, shaft coupling, telescopic arm end cap, rolling
Ballscrew and guide rail realize, and relative to the telescopic arm of the current embedded roll structure of multiple sleeves, this practicality is new
Type structure is simpler, precision is high, location is accurate, coordination is good.Owing to this utility model uses guide rail
And ball screw arrangement, therefore, the speed of service of the present utility model is faster than sleeve roll structure, and then permissible
Improve the efficiency of whole production line.
2, telescopic arm of the present utility model uses the square tubular structure of cast aluminium, the most both can alleviate weight
The fine structures such as the ball-screw inside can protecting again are not caused error by collision, in square tubular telescopic arm
Can be with cabling, live conductor plate can be separated ball-screw with cable, it is achieved that the merit that cable does not exposes
Energy.
3, safeguard structure of the present utility model is formed square tubular casing by upper cover plate and lower cover, telescopic arm,
The parts Hide Alls such as guide rail, driving motor, motor cabinet and drag chain are in casing, and it is logical that casing is additionally provided with heat radiation
Air port, allows driving motor heat be very easy to discharge.
4, this utility model design is simple, rational in infrastructure, it is possible to use simplest structure to realize mechanical hand
Bear a heavy burden flexible and less demanding to mechanism element；Having stronger safeguard function, cable does not exposes, just
In dismounting, as long as removing upper cover plate can realize maintenance, it is not necessary to whole mechanical hand is all dismantled；Save dynamic
Power, safe and reliable.
Accompanying drawing explanation
Fig. 1 is front view of the present utility model.
Fig. 2 is top view of the present utility model.
Fig. 3 is the Section A-A sectional view of Fig. 2.
Fig. 4 is the section B-B sectional view of Fig. 1.
Fig. 5 is upward view of the present utility model.
In figure: 1-upper cover plate, 2-telescopic arm, 3-cover plate, 4-lower cover, 5-drives motor, 6-motor cabinet,
7-shaft coupling, 8-guide screw lock jack panel, 9-rear end cap, 10-bearing block, 11-bearing, 12-wire casing, 13-slide block,
14-tension disc, 15-drive end bearing bracket, 16-anticollison block, 17-ball-screw, 18-guide rail, 19-drag chain, 20-leading screw
Nut, 21-telescopic arm end cap, 22-hauling-chain frame, 23-limited block, 24-grasping jig adpting flange, 25-cabling
Hole, 26-lowering or hoisting gear adpting flange.
Detailed description of the invention
For ease of those skilled in the art, the technical solution of the utility model and beneficial effect are understood, under
This utility model is described further by face by accompanying drawing.
As Figure 1-5, the cylindrical structure retractor device of a kind of mechanical hand, including drive mechanism, telescopic arm 2
And safeguard structure；Described telescopic arm 2 is the square tubular structure of cast aluminium；Described safeguard structure is by upper cover plate 1
Square tubular casing with lower cover 4 composition；Described telescopic arm 2 is by slide block 13 and guide rail 18 and protection
Structure is slidably connected, and is connected with drive mechanism by feed screw nut 20；Described drive mechanism is hidden in protection
In the casing of structure, casing is provided with heat dissipation ventilation mouth；
Described drive mechanism includes driving motor 5, motor cabinet 6, shaft coupling 7 and ball-screw 17, described electricity
Support 6 is fixed on lower cover 4, and described driving motor 5 is arranged on motor cabinet 6, drives motor 5 warp
Shaft coupling 7 is connected with ball-screw 17, and one end of described ball-screw 17 is fixed on by two bearings 11
On bearing block 10, described bearing block 10 is arranged on motor cabinet 6 by bolt, and described bearing 11 is by it
The rear end cap 9 at two ends, drive end bearing bracket 15 and guide screw lock jack panel 8 are fixed, and prevent bearing 11 axial float；Institute
Stating with anticollison block 16 on ball-screw 17, the other end of ball-screw 17 is arranged on by feed screw nut 20
On telescopic arm end cap 21；Telescopic arm end cap 21 is connected with telescopic arm 2 right-hand member, telescopic arm 2 bottom surface and slide block
13 connect, and described slide block 13 has four, four slide blocks 13 the most respectively with two be fixed on lower cover 4
Bar guide rail 18 fastens；Telescopic arm 2 is provided with limited block 23；The left side of telescopic arm end cap 21 is fixed
Tension disc 14, makes cable separate with ball-screw 17；The front portion of telescopic arm 2 is provided with cover plate 3；
Being provided with drag chain 19 and hauling-chain frame 22 on described lower cover 4, one end of described drag chain 19 is fixed on down
On cover plate 4, the other end is fixed on hauling-chain frame 22；The cable entered by cover plate 3 from telescopic arm 2 front,
Merge into one by drag chain 19 and the cable driving motor 5 and enter wire casing 12, then walking by lower cover 4
String holes 25 enters in mechanical hand column.
The grasping jig adpting flange 24 of described telescopic arm 2 front end is connected with mechanical hand grasping jig, described anti-
The lower cover 4 of protection structure is connected with the oscilaltion device of mechanical hand by lowering or hoisting gear adpting flange 26.
Further, described telescopic arm 2 is arranged in safeguard structure, forms a double-layer box body space, will
Drive mechanism, guide rail 18, slide block 13 and feed screw nut 20 and all cables are all arranged on double-layer box body
In space.
Further, described wire casing 12 is arranged between two guide rails 18, is fixed by screws in lower cover 4
On.
Further, described anticollison block 16 is arranged on ball-screw 17, is sleeved on feed screw nut 20 and front
Between end cap 15.
Further, described limited block 23 is arranged on telescopic arm 2 side, is fixed by screws in telescopic arm
On 2.
Further, described feed screw nut 20 is fixedly mounted on telescopic arm end cap 21, is threaded connection
Mode is connected with ball-screw 17.
Further, described driving motor 5 is connected with PLC control system by cable.
Further, described guide screw lock jack panel 8 is arranged on ball-screw 17, against bearing 11 inner ring
End face；Described rear end cap 9 is arranged on bearing block 10 rear end face, before drive end bearing bracket 15 is arranged on bearing block 10
On end face.
Further, one end of described ball-screw 17 is fixed on bearing block 10 by two bearings 11,
Said two bearing 11 in cascade the most one in front and one in back form be arranged on bearing block 10.
Operation principle of the present utility model is as follows: driving motor 5 of the present utility model turn, passes through shaft coupling
Device 7 drives ball-screw 17 to rotate, and then promotes connection to have the telescopic arm 2 of feed screw nut 20 at guide rail 18
On move forward, when reaching the limit of position, limited location block 23 on telescopic arm 2, mechanical position limitation can be carried out,
Prevent because driving that motor 5 is out of control makes telescopic arm 2 impaired.On the contrary, when driving motor 5 to invert, telescopic arm 2 is received
Returning, the anticollison block 16 on ball-screw 17 carries out mechanical position limitation, drives electricity during to prevent telescopic arm 2 from returning
Machine 5 is out of control to be bumped against on motor cabinet 6.This utility model controls just driving motor 5 by PLC control system
Opposite direction rotates, and drives telescopic arm 2 to seesaw.
Claims (9)
1. the cylindrical structure retractor device of a mechanical hand, it is characterised in that: include drive mechanism, telescopic arm (2) and safeguard structure；Described telescopic arm (2) is the square tubular structure of cast aluminium；The square tubular casing that described safeguard structure is made up of upper cover plate (1) and lower cover (4)；Described telescopic arm (2) is slidably connected with safeguard structure by slide block (13) and guide rail (18), and is connected with drive mechanism by feed screw nut (20)；Described drive mechanism is hidden in the casing of safeguard structure, and casing is provided with heat dissipation ventilation mouth；
Described drive mechanism includes driving motor (5), motor cabinet (6), shaft coupling (7) and ball-screw (17), described motor cabinet (6) is fixed on lower cover (4), described driving motor (5) is arranged on motor cabinet (6), motor (5) is driven to be connected with ball-screw (17) through shaft coupling (7), one end of described ball-screw (17) is fixed on bearing block (10) by two bearings (11), described bearing block (10) is arranged on motor cabinet (6) by bolt, the described bearing (11) rear end cap (9) by its two ends, drive end bearing bracket (15) and guide screw lock jack panel (8) are fixed, prevent bearing (11) axial float；With anticollison block (16) on described ball-screw (17), the other end of ball-screw (17) is arranged on telescopic arm end cap (21) by feed screw nut (20)；Telescopic arm end cap (21) is connected with telescopic arm (2) right-hand member, and telescopic arm (2) bottom surface is connected with slide block (13), and described slide block (13) has four, and four slide blocks (13) fasten with two guide rails (18) being fixed on lower cover (4) the most respectively；Telescopic arm (2) is provided with limited block (23)；The left side of telescopic arm end cap (21) is fixed tension disc (14), makes cable separate with ball-screw (17)；The front portion of telescopic arm (2) is provided with cover plate (3)；
Being provided with drag chain (19) and hauling-chain frame (22) on described lower cover (4), one end of described drag chain (19) is fixed on lower cover (4), and the other end is fixed on hauling-chain frame (22)；The cable entered by cover plate (3) from telescopic arm (2) front, is merged into one by drag chain (19) and the cable driving motor (5) and enters wire casing (12), then entered in mechanical hand column by the cable hole (25) of lower cover (4)；
The grasping jig adpting flange (24) of described telescopic arm (2) front end is connected with mechanical hand grasping jig, and the lower cover (4) of described safeguard structure is connected with the oscilaltion device of mechanical hand by lowering or hoisting gear adpting flange (26).
2. the cylindrical structure retractor device of mechanical hand as claimed in claim 1, it is characterized in that: described telescopic arm (2) is arranged in safeguard structure, forming a double-layer box body space, drive mechanism, guide rail (18), slide block (13) and feed screw nut (20) and all cables are all arranged in double-layer box body space.
3. the cylindrical structure retractor device of mechanical hand as claimed in claim 1, it is characterised in that: described wire casing (12) is arranged between two guide rails (18), is fixed by screws on lower cover (4).
4. the cylindrical structure retractor device of mechanical hand as claimed in claim 1, it is characterised in that: described anticollison block (16) is arranged on ball-screw (17), is sleeved between feed screw nut (20) and drive end bearing bracket (15).
5. the cylindrical structure retractor device of mechanical hand as claimed in claim 1, it is characterised in that: described limited block (23) is arranged on telescopic arm (2) side, is fixed by screws on telescopic arm (2).
6. the cylindrical structure retractor device of mechanical hand as claimed in claim 1, it is characterised in that: described feed screw nut (20) is fixedly mounted on telescopic arm end cap (21), and the mode that is threaded connection is connected with ball-screw (17).
7. the cylindrical structure retractor device of mechanical hand as claimed in claim 1, it is characterised in that: described driving motor (5) is connected with PLC control system by cable.
8. the cylindrical structure retractor device of mechanical hand as claimed in claim 1, it is characterised in that: described guide screw lock jack panel (8) is arranged on ball-screw (17), against bearing (11) inner ring end face；Described rear end cap (9) is arranged on bearing block (10) rear end face, and drive end bearing bracket (15) is arranged on bearing block (10) front end face.
9. the cylindrical structure retractor device of mechanical hand as claimed in claim 1, it is characterized in that: one end of described ball-screw (17) is fixed on bearing block (10) by two bearings (11), said two bearing (11) in cascade the most one in front and one in back form be arranged on bearing block (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620233776.2U CN205521490U (en) | 2016-03-24 | 2016-03-24 | Cartridge type structure telescoping device of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620233776.2U CN205521490U (en) | 2016-03-24 | 2016-03-24 | Cartridge type structure telescoping device of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205521490U true CN205521490U (en) | 2016-08-31 |
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ID=56784988
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620233776.2U Active CN205521490U (en) | 2016-03-24 | 2016-03-24 | Cartridge type structure telescoping device of manipulator |
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| Country | Link |
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| CN (1) | CN205521490U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105643663A (en) * | 2016-03-24 | 2016-06-08 | 大连阳迪科技有限公司 | Cylindrical structure stretch and retract device of manipulator |
| CN107363839A (en) * | 2017-07-24 | 2017-11-21 | 重庆市臻憬科技开发有限公司 | A kind of intelligent restaurant |
| CN108312130A (en) * | 2018-03-27 | 2018-07-24 | 湖南粤科汇智能科技有限公司 | A kind of long-armed heavy load wu-zhi-shan pig |
| CN108356849A (en) * | 2018-03-27 | 2018-08-03 | 湖南粤科汇智能科技有限公司 | A kind of long-armed stable telescopic device for robot |
| CN109595316A (en) * | 2019-01-15 | 2019-04-09 | 重庆大学 | A kind of telescoping mechanism with accurate positioning function |
| CN114147683A (en) * | 2021-11-15 | 2022-03-08 | 杭州申昊科技股份有限公司 | Telescopic rail hanging robot |
| CN117773998A (en) * | 2024-01-22 | 2024-03-29 | 哈尔滨工业大学 | Reconfigurable space manipulator with wide-range operation and variable operation space capability |
-
2016
- 2016-03-24 CN CN201620233776.2U patent/CN205521490U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105643663A (en) * | 2016-03-24 | 2016-06-08 | 大连阳迪科技有限公司 | Cylindrical structure stretch and retract device of manipulator |
| CN107363839A (en) * | 2017-07-24 | 2017-11-21 | 重庆市臻憬科技开发有限公司 | A kind of intelligent restaurant |
| CN108312130A (en) * | 2018-03-27 | 2018-07-24 | 湖南粤科汇智能科技有限公司 | A kind of long-armed heavy load wu-zhi-shan pig |
| CN108356849A (en) * | 2018-03-27 | 2018-08-03 | 湖南粤科汇智能科技有限公司 | A kind of long-armed stable telescopic device for robot |
| CN109595316A (en) * | 2019-01-15 | 2019-04-09 | 重庆大学 | A kind of telescoping mechanism with accurate positioning function |
| CN114147683A (en) * | 2021-11-15 | 2022-03-08 | 杭州申昊科技股份有限公司 | Telescopic rail hanging robot |
| CN117773998A (en) * | 2024-01-22 | 2024-03-29 | 哈尔滨工业大学 | Reconfigurable space manipulator with wide-range operation and variable operation space capability |
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