CN205614659U - TN series triaxial servo machine tool hand - Google Patents
TN series triaxial servo machine tool hand Download PDFInfo
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- CN205614659U CN205614659U CN201620421342.5U CN201620421342U CN205614659U CN 205614659 U CN205614659 U CN 205614659U CN 201620421342 U CN201620421342 U CN 201620421342U CN 205614659 U CN205614659 U CN 205614659U
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- belt
- arm
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- detours
- crosswise
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Abstract
The utility model provides a TN series triaxial servo machine tool hand, it includes: be located walking crosswise the horizontal device that detours of belt, perpendicularly connecting drawing on this walks crosswise the horizontal device that detours of belt and pull out the arm, connect and draw detour device and connect the side appearance rack and pinion device on this arm belt detours the device of arm belt on pulling out the arm at this of horizontal direction motion, wherein, it is the same with the direction of motion of walking crosswise the horizontal device that detours of belt to draw the direction of motion that pulls out the arm, device along the vertical direction motion of detouring of arm belt. This TN series triaxial servo machine tool hand's first belt and the 2nd belt transmission noise extremely hang down, just coordinate the transmission at the transmission in -process by rack and pinion, the utility model discloses the assembly is easy.
Description
Technical field
This utility model belongs to the transmitting device of mechanical hand, particularly relates to a kind of TN series three axle servo manipulators.
Background technology
Side appearance mean that the complete product of gripper of manipulator after, move to the reversion action after declining outside equipment, such as take note
Molding machine is gone ahead, and after mechanical hand takes out product inside equipment, rises to above equipment, and then large arm is walked equipment
Outside, inverts product, (not before reversion the line of production forward, invert backward under) drop to open product on conveyer belt.
Taking out the product that volume is bigger, when side appearance is up, traditional unilateral pulling and frame-type pulling the most easily produce
Product bumps against with pulling arm, it is impossible to be up to the situation on summit.
Therefore, it is necessary to design a kind of new mechanical hand.
Utility model content
The purpose of this utility model is to provide a kind of compact conformation, effectively utilizes the TN series three axle servounits in space
Hands.
This utility model provides a kind of TN series three axle servo manipulators, comprising: be positioned at horizontal motion walks crosswise skin
With the horizontal device that detours, be vertically connected on this walk crosswise belt horizontal detour on device pulling arm, be connected on this pulling arm
Arm belt detour device and be connected to the side appearance gear rack arrangement that this arm belt detours on device, wherein,
The direction of motion of described pulling arm is identical with the direction of motion walking crosswise the horizontal device that detours of belt；Described arm belt is around luggage
Put and be movable in a vertical direction.
Preferably, the end of described pulling arm is fixed on arm belt and detours on device, and the middle part of this pulling arm is fixed on horizontal stroke
Row belt is horizontal to detour on device.
Preferably, walk crosswise the horizontal device that detours of belt described in include: horizontally extending arch, support the skewback of this arch
Seat, it is respectively mounted the first of this arch opposite sides and walks crosswise slide rail and second and walk crosswise slide rail, be positioned at this and first walk crosswise slide rail and the
Two walk crosswise the first belt between slide rail, all slide be fixed on first walk crosswise that slide rail and second walks crosswise on slide rail multiple walk crosswise
Slide block, be fixed on the plurality of walk crosswise on slide block slide plate, the motor fixed plate being fixed on this slide plate, be fixed on this motor
First servo motor of fixed plate side and be fixed on first belt pulley and first of this motor fixed plate opposite side
Walk crosswise idle pulley and second and walk crosswise idle pulley；Wherein, the first belt pulley and the first servo motor connect.
Preferably, also include the two ends connecting this first belt respectively and fix first be connected with this arch and walk crosswise belt clamping plate
Belt clamping plate are walked crosswise with second.
Preferably, also including multiple second slide blocks being fixed on described slide plate, described pulling arm is fixed on this second slide block
On.
Preferably, the arm belt device that detours includes: the first arm structure beam of vertically extending, be fixed on this
Arm slide rail on one arm structure beam and the second belt, slide be fixed on slide rail multiple 3rd slide blocks, be fixed on this
Fixing seat on multiple 3rd slide blocks, it is fixed on the second servo motor of this fixing seat side and is fixed on this fixing seat
Second belt pulley of opposite side, the first arm idle pulley and the second arm idle pulley；Wherein, the second belt pulley and the second servo horse
Reach connection.
Preferably, described pulling arm is fixed on described fixing seat.
Preferably, arm belt detours second-hand's arm configuration that device also includes being slidably connected on this first arm structure beam
Beam.
Preferably, described side appearance gear rack arrangement is fixed on described second arm structure beam.
Preferably, described side appearance gear rack arrangement includes: the one-piece cylinder fixing with described second arm structure beam,
The first fixed side being each attached on this one-piece cylinder and being set up in parallel and the second fixed side and this one-piece cylinder
Connect and stretch out the cylinder axis between the first fixed side and the second fixed side and be connected to this first fixed side and
Side appearance swivel plate between second fixed side；Wherein, appearance swivel plate in side is provided with gear；Cylinder axis is provided with and side appearance
The intermeshing tooth bar of gear of swivel plate 5.
This TN series three axle servo manipulators the first belt and the second belt transmission noise is extremely low and in transmission process by
Rack-and-pinion coordinates transmission, and this utility model assembling is easily.
Accompanying drawing explanation
Fig. 1 is the perspective view of this utility model TN series three axle servo manipulators；
Fig. 2 is the front view of the series three axle servo manipulators of TN shown in Fig. 1；
Fig. 3 is the stereochemical structure signal walking crosswise the horizontal device that detours of belt of the series three axle servo manipulators of TN shown in Fig. 1
Figure；
Fig. 4 is that the arm belt of the series three axle servo manipulators of TN shown in Fig. 1 detours the perspective view of device；
Fig. 5 is the perspective view of the side appearance gear rack arrangement of the series three axle servo manipulators of TN shown in Fig. 1；
Fig. 6 is the front view of appearance gear rack arrangement in side shown in Fig. 5.
Figure number illustrates:
100-TN series three axle servo manipulators, 101-walk crosswise the horizontal device that detours of belt, 1-arch, 2-skewback seat,
3-first walks crosswise slide rail, 4-second walks crosswise slide rail, 5-the first belt, 6-first walk crosswise belt clamping plate,
7-second walks crosswise belt clamping plate, 8-walks crosswise slide block, 9-slide plate, 10-motor fixed plate, 11-the first servo motor,
12-the first belt pulley, 13-first walk crosswise idle pulley, 14-second walks crosswise idle pulley, 102-pulling arm,
103-arm belt detour device, 15-the first arm structure beam, 16-the second arm structure beam, 17-arm slide rail,
18-the second belt, 19-the 3rd slide block, 20-fix seat, 21-the second servo motor, 22-the second belt pulley,
23-the first arm idle pulley, 24-the second arm idle pulley, 25-the first arm belt clamp plate,
26-the second arm belt clamp plate, 104-side appearance gear rack arrangement, 27-one-piece cylinder,
28-the first fixed side, 29-the second fixed side, 30-cylinder axis, 31-side appearance swivel plate, 311-gear,
301-tooth bar.
Detailed description of the invention
The utility model will be further described the most in conjunction with the embodiments.
This utility model provides a kind of TN series three axle servo manipulators, TN series the meaning be New Titan Series
(the smooth series of new Thailand), a kind of cattle-head transmitting device of this TN series three axle servo manipulators, it belongs to machine
The transmitting device of tool hands.
Referring to shown in Fig. 1 and Fig. 2, this TN series three axle servo manipulators 100 include: be positioned at the horizontal stroke of horizontal motion
The horizontal device 101 that detours of row belt, it is vertically connected on this and walks crosswise on the horizontal device 101 that detours of belt and be positioned at horizontal direction
The pulling arm 102 of motion, it is connected to the arm belt of this pulling arm 102 one end and detours device 103 and be connected to this hands
Arm belt detours the side appearance gear rack arrangement 104 on device 103.Wherein, the direction of motion of pulling arm 102 with walk crosswise skin
The direction of motion with the horizontal device 101 that detours is identical；The arm belt device 103 that detours is movable in a vertical direction.
Three axles of this TN series three axle servo manipulators 100 refer respectively to walk crosswise the horizontal device 101 that detours of belt, arm skin
Band detours device 103 and side appearance gear rack arrangement 104, and to walk crosswise the horizontal device 101 that detours of belt be a R series
Full servo manipulator, the arm belt device 103 that detours is the 2nd full servo manipulator of R series, side appearance gear rack arrangement 104
Being the 3rd full servo manipulator of R series, the meaning of R series is Redstone Series (red stone series).
The end of pulling arm 102 is fixed on arm belt and detours on device 103, and the middle part of this pulling arm 102 is fixed on to be walked crosswise
Belt is horizontal to detour on device 101.
Referring to shown in Fig. 3, this arm belt device 101 that detours includes: horizontally extending (i.e. horizontal expansion)
Arch 1, support the skewback seat 2 of this arch, be respectively mounted this arch 1 opposite sides and identical with this arch 1 bearing of trend first and walk crosswise
Slide rail 3 and second walk crosswise slide rail 4, this first walk crosswise slide rail 3 and second walk crosswise between slide rail 4 and with this arch 1 side of extension
To the first identical belt 5, connect this first belt 5 respectively two ends and fixing with this arch 1 be connected first walk crosswise belt
Clamping plate 6 and second are walked crosswise belt clamping plate 7, are all slided and be fixed on first and walk crosswise multiple horizontal strokes that slide rail 3 and second is walked crosswise on slide rail 4
Row slide block 8, be fixed on the plurality of walk crosswise on slide block 8 slide plate 9, be fixed on this slide plate 9 and connected vertically with slide plate 9
Motor fixed plate 10, it is fixed on the first servo motor 11 of this motor fixed plate 10 side and is fixed on this motor and fixes
First belt pulley 12 of plate 10 opposite side and first is walked crosswise idle pulley 13 and second and is walked crosswise idle pulley 14.
The center of the first belt pulley 12, the first center and second walking crosswise idle pulley 13 are walked crosswise the center of idle pulley 14 and are formed in equilateral
Triangle, the first belt pulley 12 is centrally located at this equilateral vertex of a triangle so that the sky that the first belt pulley 12 is installed
Between relatively big, in the present embodiment, a diameter of a of the first belt pulley 12；First center walking crosswise idle pulley 13 and second is walked crosswise
Idle pulley 14 is positioned at another 2 points of this equilateral triangle, and first walks crosswise idle pulley 13 and second walks crosswise idle pulley 14 and can freely strengthen,
In the present embodiment, first walks crosswise idle pulley 13 and the second diameter walking crosswise idle pulley 14 is b；First servo motor 11 is through this horse
Reach fixed plate 10 to be connected with the first belt pulley 12.
The first of first belt 5 and both sides is walked crosswise slide rail 3 and second and walks crosswise and be all spaced a distance between slide rail 4, and first
Belt 5 freely can be walked crosswise slide rail 3 and second and walks crosswise slide rail 4 direction and widen to laying respectively at first.
First belt 5 is walked crosswise idle pulley 13 from parallel and arch 1 plane through first and is detoured in the first belt pulley 12, this first skin
Band 5 is walked crosswise idle pulley 14 through the first belt pulley 12 to the second and is detoured and return to primary plane；First servo motor 11 is through the first belt pulley
12 output power, drive described slide plate 9 to move along the bearing of trend of arch 1.
The detour belt transmission noise of device 101 of this arm belt is extremely low；Secondly as the first belt is horizontal installation,
So stress suffered by the first belt is all on belt transmission direction, and belt both sides, except cause because of rigging error minimum should
Outside power, then without other, so greatly reducing the possibility of belt deviation；This arm belt device 101 that detours uses sleeping
Formula belt mounting means so that walk crosswise, first, most of space that slide rail and second walks crosswise between slide rail and may be by
Come, widen the first belt, strengthen idle pulley the most convenient, it is also possible to during to belt deviation, leave bigger surplus, keep away
Exempt from belt and rupture with idle pulley friction because of sideslip.
This TN series three axle servo manipulators also include being fixed on arm belt detour device 101 slide plate 9 on multiple the
Two slide blocks 13, the middle part of pulling arm 102 is fixed on this second slide block 13.
Referring to shown in Fig. 4, the arm belt device 103 that detours includes: vertical direction extends and vertically moving the
One arm structure beam 15, the second arm structure beam 16 being slidably connected on this first arm structure beam 15, be fixed on this first
Arm slide rail 17 on arm structure beam 15 and the second belt 18, slide be fixed on slide rail 16 multiple 3rd slide blocks 19,
It is fixed on the fixing seat 20 on the plurality of 3rd slide block 19, is fixed on the second servo motor 21 of this fixing seat 20 side, solid
Be scheduled on the second belt pulley 22 of this fixing seat 20 opposite side and the first arm idle pulley 23 and the second arm idle pulley 24 and
Connect respectively the two ends of this belt 18 and first arm belt clamp plate 25 of being connected fixing with this first arm structure beam 15 and
Second arm belt clamp plate 26.Wherein, the second belt pulley 22 is connected with the second servo motor 21.
Wherein, the second arm structure beam 16 is also to extend along vertical level direction.
Fixing seat 20 is formed in not advising side, on horizontal plane direction, and farthest side back gauge the first arm knot of this fixing seat 20
The distance of structure beam 1 support is a, in the vertical direction, a length of b of this fixing seat 20；By the value of a and b is designed as
Minimum so that this arm belt detours device 103 compact conformation, significantly more efficient make use of this arm belt to detour device
The space of 103；
First arm structure beam 15 has interconnective four sides, and wherein, arm slide rail 17 and the second belt 18 are respectively
It is fixed on adjacent two side of this first arm structure beam 15.Fixing seat 20 makes a stretch of the arm the side of slide rail 17.
Arm slide rail 17 is all identical with the bearing of trend of the first arm structure beam 15 with the bearing of trend of the second belt 18, and this is years old
The first arm knot is fixed on by the first arm belt clamp plate 25 and the second arm belt clamp plate 26 respectively in the two ends of two belts 18
On structure beam 15.
First arm idle pulley 23 is positioned at the lower section of the second arm idle pulley 24, and the second arm idle pulley 24 is positioned at the second belt pulley 22
Top.
One plane of the second belt 18, through the first arm idle pulley 23, detours in the second belt pulley 22, then the second belt 18
Primary plane is returned to, the parallel surface with the first arm structure beam 15 of this plane through the second arm idle pulley 24；Second servo horse
Reach 21 and export power by the second belt pulley 22, drive the first arm structure beam 15 to move along being perpendicular to horizontal plane direction.
The end of pulling arm 102 be fixed on arm belt detour device 103 fixing seat 20 on, by arm belt around luggage
Put 103 to move at vertical direction, drive this pulling arm 102 to move in the horizontal direction together.
This arm belt 103 body structures of device that detour are lighter so that the driving force on arm can more utilizations second-hand
Above arm configuration beam, improve the service efficiency of the second servo motor；This arm belt detours device 103 compact conformation,
This arm belt is effectively make use of to detour the space of device 103；Detour the mistake of device 103 high-speed cruising at this arm belt
Cheng Zhong, noise produced by the second belt transmission structure is extremely low；Second belt transmission structure easily assembles, and allows assembling simultaneously
Error is bigger.
Side appearance gear rack arrangement 104 be fixed on this arm belt detour device 103 the second arm structure beam 16 on.
Referring to shown in Fig. 5 and Fig. 6, side appearance gear rack arrangement 104 includes: is fixed on arm belt and detours device 103
One-piece cylinder 27 on second arm structure beam 16, the first fixed side 28 and being each attached on this one-piece cylinder 27
Second fixed side 29 is connected with this one-piece cylinder 27 and stretches out between the first fixed side 28 and the second fixed side 29
Cylinder axis 30 and be connected to the side appearance swivel plate 31 between this first fixed side 28 and second fixed side 29；Its
In, side appearance swivel plate 31 is provided with gear 311；The gear 311 that cylinder axis 30 is provided with side appearance swivel plate 31 engages each other
Tooth bar 301, one-piece cylinder 27 by the ratcheting drive side appearance swivel plate 31 with side appearance swivel plate 31 at B-B shown in Fig. 6
Azimuthal rotational motion, it is achieved side appearance action.
Wherein, the first fixed side 28 and the second fixed side 29 are set up in parallel and keep at a certain distance away；First fixed side
28 and second connect between fixed side 29 and have the first rotating dog 32 being positioned at side and the second rotating dog being positioned at opposite side
33, it may be assumed that the first rotating dog 32 and the second rotating dog 33 are separately positioned on described first fixed side 28 and the second fixed side
The opposite sides of 29.
Wherein, side appearance swivel plate 31 is fixed on this first fixed side 28 and the second fixed side 29 by the first rotating dog 32
Between；The side of this cylinder axis 30 is connected on the second rotating dog 33, and the opposite side of this cylinder axis 30 is provided with above-mentioned tooth bar
301。
This side appearance gear rack arrangement 104 uses one-piece cylinder, greatly reduces assembly difficulty and workload, simultaneously
The most greatly reduce the size of integrated model；Transmission with rack-and-pinion in transmission process, appearance process side, whole side appearance
Constant rate, cylinder the second arm structure beam also without larger fluctuation, during the appearance of side the radial stress on cylinder axis also by
Offset；This utility model unitary side appearance action stability and quality are the highest.
When pulling arm 102 moves at the A of pulling direction shown in Fig. 2, arm belt detours device 103 and pulling arm 102 simultaneously
Move together；Although there is no pulling arm 102, the transmission creation 100 of this utility model cattle-head at side appearance gear rack arrangement 104
When the side bigger product of appearance volume, side appearance action also can be completed.
This TN series three axle servo manipulators the first belt and the second belt transmission noise is extremely low and in transmission process by
Rack-and-pinion coordinates transmission, and this utility model assembling is easily.
In the above-described embodiments, only this utility model has been carried out exemplary description, but those skilled in the art are not taking off
In the case of the scope and spirit that this utility model is protected, various embodiment party can be designed according to different being actually needed
Formula.
Preferred implementation of the present utility model described in detail above, but this utility model is not limited to above-mentioned embodiment party
Detail in formula, in technology concept of the present utility model, can be carried out the technical solution of the utility model
Multiple equivalents, these equivalents belong to protection domain of the present utility model.
Claims (10)
1. TN series three axle servo manipulators, it is characterized in that, comprising: be positioned at horizontal motion walk crosswise the horizontal device that detours of belt, be vertically connected on this walk crosswise the horizontal pulling arm that detours on device of belt, the arm belt that is connected on this pulling arm detours device and is connected to the side appearance gear rack arrangement that this arm belt detours on device, wherein, the direction of motion of described pulling arm is identical with the direction of motion walking crosswise the horizontal device that detours of belt；The described arm belt device that detours is movable in a vertical direction.
TN the most according to claim 1 series three axle servo manipulators, it is characterised in that: the end of described pulling arm is fixed on arm belt and detours on device, and the middle part of this pulling arm is fixed on walks crosswise that belt is horizontal to detour on device.
TN the most according to claim 1 series three axle servo manipulators, it is characterized in that: described in walk crosswise the horizontal device that detours of belt and include: horizontally extending arch, support the skewback seat of this arch, it is respectively mounted the first of this arch opposite sides to walk crosswise slide rail and second and walk crosswise slide rail, first the first belt that slide rail and second is walked crosswise between slide rail is walked crosswise at this, all slide be fixed on first walk crosswise that slide rail and second walks crosswise on slide rail multiple walk crosswise slide block, it is fixed on the plurality of slide plate walked crosswise on slide block, it is fixed on the motor fixed plate on this slide plate, it is fixed on the first servo motor of this motor fixed plate side, and it is fixed on the first belt pulley of this motor fixed plate opposite side, and first walk crosswise idle pulley and second and walk crosswise idle pulley；Wherein, the first belt pulley and the first servo motor connect.
TN the most according to claim 3 series three axle servo manipulators, it is characterised in that: also include the two ends connecting this first belt respectively and fix first be connected with this arch and walk crosswise belt clamping plate and second and walk crosswise belt clamping plate.
TN the most according to claim 3 series three axle servo manipulators, it is characterised in that: also including multiple second slide blocks being fixed on described slide plate, described pulling arm is fixed on this second slide block.
TN the most according to claim 1 series three axle servo manipulators, it is characterised in that: the arm belt device that detours includes: the first arm structure beam vertically extended, the arm slide rail being fixed on this first arm structure beam and the second belt, slide multiple 3rd slide blocks, the fixing seat being fixed on the plurality of 3rd slide block, the second servo motor being fixed on this fixing seat side being fixed on slide rail and be fixed on the second belt pulley of this fixing seat opposite side, the first arm idle pulley and the second arm idle pulley；Wherein, the second belt pulley and the second servo motor connect.
TN the most according to claim 6 series three axle servo manipulators, it is characterised in that: described pulling arm is fixed on described fixing seat.
TN the most according to claim 6 series three axle servo manipulators, it is characterised in that: arm belt detours the second arm structure beam that device also includes being slidably connected on this first arm structure beam.
TN the most according to claim 8 series three axle servo manipulators, it is characterised in that: described side appearance gear rack arrangement is fixed on described second arm structure beam.
TN the most according to claim 9 series three axle servo manipulators, it is characterised in that: described side appearance gear rack arrangement includes: one-piece cylinder, first fixed side that be each attached to this one-piece cylinder on and be set up in parallel and second fixed side fixing with described second arm structure beam are connected with this one-piece cylinder and stretch out the cylinder axis between the first fixed side and the second fixed side and the side appearance swivel plate being connected between this first fixed side and second fixed side；Wherein, appearance swivel plate in side is provided with gear；Cylinder axis is provided with the intermeshing tooth bar of gear with side appearance swivel plate (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620421342.5U CN205614659U (en) | 2016-05-11 | 2016-05-11 | TN series triaxial servo machine tool hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620421342.5U CN205614659U (en) | 2016-05-11 | 2016-05-11 | TN series triaxial servo machine tool hand |
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| Publication Number | Publication Date |
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| CN205614659U true CN205614659U (en) | 2016-10-05 |
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ID=57026112
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620421342.5U Active CN205614659U (en) | 2016-05-11 | 2016-05-11 | TN series triaxial servo machine tool hand |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109623798A (en) * | 2018-03-14 | 2019-04-16 | 深圳市华正联实业有限公司 | A kind of three axle robert |
| CN110525856A (en) * | 2019-08-23 | 2019-12-03 | 南安市商宏机械科技有限公司 | Automatic clamping and placing goods mechanical hand in a kind of storage warehouse |
-
2016
- 2016-05-11 CN CN201620421342.5U patent/CN205614659U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109623798A (en) * | 2018-03-14 | 2019-04-16 | 深圳市华正联实业有限公司 | A kind of three axle robert |
| CN110525856A (en) * | 2019-08-23 | 2019-12-03 | 南安市商宏机械科技有限公司 | Automatic clamping and placing goods mechanical hand in a kind of storage warehouse |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 215134 Xiangcheng District, Suzhou, Weitang Town, Yang Cheng Road, No. 3366, No. Patentee after: Alfa intelligent Polytron Technologies Inc Address before: 215134 Xiangcheng District, Suzhou, Weitang Town, Yang Cheng Road, No. 3366, No. Patentee before: Alfa (Suzhou) Automation Technology Limited |