CN206105860U - Intelligent manipulator - Google Patents
Intelligent manipulator Download PDFInfo
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- CN206105860U CN206105860U CN201621128421.3U CN201621128421U CN206105860U CN 206105860 U CN206105860 U CN 206105860U CN 201621128421 U CN201621128421 U CN 201621128421U CN 206105860 U CN206105860 U CN 206105860U
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- transmission belt
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Abstract
The utility model relates to mechanical equipment technical field especially relates to intelligent manipulator. Intelligent manipulator is including upper right roof beam, right underbeam, upper left roof beam, left underbeam, movable cross beam no. 1, motor no. 1, motor no. 2, motor no. 3, motor no. 4, motor no. 5, motor six and motor seven. This intelligent manipulator's simple structure is practical, and low in manufacturing cost, flexible movements, movement inertia is little, the commonality is strong, can snatch the work piece near the frame to can realize the three -dimensional moving of the quick accuracy of work piece, in addition, this intelligent manipulator operation is very convenient, has improved the quick accurate effect that removes of work piece, is fit for using widely.
Description
Technical field
This utility model is related to mechanical equipment technical field, more particularly to puma manipulator.
Background technology
Mechanical hand can imitate some holding functions of staff and arm, to by fixed routine crawl, carrying object or operation
The automatic pilot of instrument.Mechanical hand is the industrial robot for occurring earliest, and the modern machines people for occurring earliest, and it can
Replace the heavy labor of people to realize mechanization and the automatization of production, can operate under hostile environment to protect personal safety,
Thus it is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Mechanical hand it can mitigating heavy physical work, improve working conditions and keep the safety in production；Human body can be imitated
The partial function of upper limb, can which be carried out automatically controlling makes which convey product according to pre-provisioning request or manage instrument and produce
The automated production equipment of operation, production line balance line operation.Improve the production efficiency of injection moulding machine, stabilized product quality,
The aspects such as rate, reduction production cost, the competitiveness of enhancing enterprise of reducing the number of rejects and seconds are played and its important work.
Robot drives mode can be divided into fluid pressure type, pneumatic type, electrodynamic type, mechanical type mechanical hand；Can divide by the scope of application
For two kinds of special manipulator and Unimate；Point position control and continuous path control machine can be divided into by movement locus control mode
Tool handss etc..
At present, common mechanical hand motility is poor, and manufacturing cost is higher, it is impossible to enough drive workpiece to realize three-dimensional accurate fortune
It is dynamic, with the needs of production, higher and higher requirement is proposed to positioning precision and working space of mechanical hand etc..
This utility model devises puma manipulator, this kind of puma manipulator it is simple and practical, it is low cost of manufacture, dynamic
Make flexible, little motional inertia, highly versatile, the workpiece of close support can be captured, and workpiece can be realized fast and accurately
Three-dimensional motion, additionally, the puma manipulator operation is very easy, improve the effect that workpiece is quick and precisely moved, be adapted to promote
Use.
Utility model content
In order to overcome defect present in background technology, this utility model to solve the technical scheme adopted by its technical problem
It is：Puma manipulator, including upper right beam, bottom right beam, upper left beam, lower-left beam, moving beam one, motor one, motor two, motor
3rd, one end of motor four, motor five, motor six and motor seven, the upper left beam and lower-left beam is fixed on supporting leg one, the left side
The other end of upper beam and lower-left beam is fixed on supporting leg two, and one end of the upper right beam and bottom right beam is fixed on supporting leg three, institute
The other end for stating upper right beam and bottom right beam is fixed on supporting leg four, and guide rail four is fixed with the left surface of the upper right beam, described
Guide rail two is fixed with the left surface of bottom right beam, guide rail three, the lower-left beam right flank on the upper left beam right flank, is fixed with
On be fixed with guide rail one, guide rail six is fixed with the upper surface of the upper right beam, is fixed with the upper surface of the upper left beam and is led
Rail five, the motor one and motor three are fixed on supporting leg one, and the motor two is fixed on supporting leg four, and the motor one can
Left handgrip lifting arm is driven to slide on guide rail one and guide rail three by transmission belt one, the motor two can pass through transmission belt two
Right handgrip lifting arm is driven to slide on guide rail two and guide rail four, the motor three can drive Synchronous Transmission by transmission belt three
Balance shaft is rotated, and the rotation of the Synchronous Transmission balance shaft can drive moving beam two to exist by transmission belt four and transmission belt five
Slide on guide rail five and guide rail six, the moving beam one can slide on guide rail five and guide rail six, and the motor four is fixed
On moving beam two, the motor four can drive arm support two that reciprocal fortune is done on moving beam two by transmission belt six
Dynamic, the bottom of the arm support two is provided with handgrip installing plate four, and the motor five is fixed on moving beam one, the motor
Five can drive arm support one to move reciprocatingly on moving beam one by transmission belt seven, the bottom of the arm support one
Handgrip installing plate three is provided with, the motor six is fixed on left handgrip lifting arm, the motor six can pass through eight band of transmission belt
Dynamic handgrip installing plate one moves reciprocatingly on left handgrip lifting arm, and the motor seven is fixed on right handgrip lifting arm, described
Motor seven can drive handgrip installing plate two to move reciprocatingly on right handgrip lifting arm by transmission belt nine.
Puma manipulator involved by this utility model, this kind of puma manipulator it is simple and practical, low cost of manufacture,
Flexible movements, little motional inertia, highly versatile, the workpiece that close support can be captured, and workpiece can be realized quick and precisely
Three-dimensional motion, additionally, the puma manipulator operation is very easy, improve the effect that workpiece is quick and precisely moved, be adapted to push away
It is wide to use.
Description of the drawings
With reference to the accompanying drawings and examples this utility model is further illustrated.
Fig. 1 is the structural representation one of this utility model puma manipulator；
Fig. 2 is the partial enlarged drawing in Fig. 1 at A；
Fig. 3 is the partial enlarged drawing in Fig. 1 at B；
Fig. 4 is the partial enlarged drawing in Fig. 1 at C；
Fig. 5 is the structural representation two of this utility model puma manipulator；
Fig. 6 is the partial enlarged drawing in Fig. 1 at D；
Fig. 7 is the partial enlarged drawing in Fig. 1 at E；
Fig. 8 is the partial enlarged drawing in Fig. 1 at F；
Wherein:1st, supporting leg one；2nd, supporting leg two；3rd, supporting leg three；4th, supporting leg four；5th, upper right beam；6th, bottom right beam；7th, upper left
Beam；8th, lower-left beam；9th, moving beam one；10th, moving beam two；11st, right handgrip lifting arm；12nd, left handgrip lifting arm；13rd, electricity
Machine one；14th, motor two；15th, motor three；16th, motor four；17th, motor five；18th, motor six；19th, motor seven；20th, Synchronous Transmission
Balance shaft；21st, transmission belt one；22nd, transmission belt two；23rd, transmission belt three；24th, transmission belt four；25th, transmission belt five；26th, transmission belt
Six；27th, transmission belt seven；28th, transmission belt eight；29th, transmission belt nine；30th, guide rail one；31st, guide rail two；32nd, guide rail three；33rd, guide rail
Four；34th, guide rail five；35th, guide rail six；36th, handgrip installing plate one；37th, handgrip installing plate two；38th, handgrip installing plate three；39th, grab
Handss installing plate four；40th, arm support one；41st, arm support two.
Specific embodiment
This utility model is described in further detail presently in connection with accompanying drawing.Accompanying drawing is simplified schematic diagram, only showing
Meaning mode illustrates basic structure of the present utility model, therefore which only shows the composition relevant with this utility model.
Refer to Fig. 1-8, puma manipulator, including upper right beam 5, bottom right beam 6, upper left beam 7, lower-left beam 8, moving beam one
9th, motor 1, motor 2 14, motor 3 15, motor 4 16, motor 5 17, motor 6 18 and motor 7 19, the upper left beam 7
It is fixed on supporting leg 1 with one end of lower-left beam 8, the other end of the upper left beam 7 and lower-left beam 8 is fixed on supporting leg 22, institute
The one end for stating upper right beam 5 and bottom right beam 6 is fixed on supporting leg 33, and the other end of the upper right beam 5 and bottom right beam 6 is fixed on and props up
On lower limb 44, guide rail 4 33 is fixed with the left surface of the upper right beam 5, on the left surface of the bottom right beam 6, guide rail two is fixed with
31, guide rail 3 32 is fixed with 7 right flank of upper left beam, on 8 right flank of lower-left beam, guide rail 1, the right side is fixed with
Guide rail 6 35 is fixed with the upper surface of upper beam 5, guide rail 5 34, the motor one on the upper surface of the upper left beam 7, is fixed with
13 and motor 3 15 be fixed on supporting leg 1, the motor 2 14 is fixed on supporting leg 44, and the motor 1 can pass through
Transmission belt 1 drives left handgrip lifting arm 12 to slide on guide rail 1 and guide rail 3 32, and the motor 2 14 can be by passing
Dynamic band 2 22 drives right handgrip lifting arm 11 to slide on guide rail 2 31 and guide rail 4 33, and the motor 3 15 can be by transmission
Band 3 23 drives Synchronous Transmission balance shaft 20 to rotate, and the rotation of the Synchronous Transmission balance shaft 20 can pass through 4 24 He of transmission belt
Transmission belt 5 25 drives moving beam 2 10 to slide on guide rail 5 34 and guide rail 6 35, and the moving beam 1 can led
Slide on rail 5 34 and guide rail 6 35, the motor 4 16 is fixed on moving beam 2 10, and the motor 4 16 can pass through
Transmission belt 6 26 drives arm support 2 41 to move reciprocatingly on moving beam 2 10, and the bottom of the arm support 2 41 sets
There is handgrip installing plate 4 39, the motor 5 17 is fixed on moving beam 1, the motor 5 17 can pass through transmission belt seven
27 drive arm supports 1 move reciprocatingly on moving beam 1, and the bottom of the arm support 1 is provided with handgrip peace
Dress plate 3 38, the motor 6 18 are fixed on left handgrip lifting arm 12, and the motor 6 18 can pass through 8 28 band of transmission belt
Dynamic handgrip installing plate 1 moves reciprocatingly on left handgrip lifting arm 12, and the motor 7 19 is fixed on right handgrip lifting arm 11
On, the motor 7 19 can drive handgrip installing plate 2 37 that reciprocal fortune is done on right handgrip lifting arm 11 by transmission belt 9 29
It is dynamic.
Puma manipulator involved by this utility model, this kind of puma manipulator it is simple and practical, low cost of manufacture,
Flexible movements, little motional inertia, highly versatile, the workpiece that close support can be captured, and workpiece can be realized quick and precisely
Three-dimensional motion, additionally, the puma manipulator operation is very easy, improve the effect that workpiece is quick and precisely moved, be adapted to push away
It is wide to use.
Obviously, above-described embodiment is only intended to clearly illustrate example, and the not restriction to embodiment.It is right
For those of ordinary skill in the art, can also make on the basis of the above description other multi-forms change or
Change.There is no need to be exhaustive to all of embodiment.And thus it is extended obvious change or
Among changing still in the protection domain of the invention.
Claims (1)
1. puma manipulator, including upper right beam（5）, bottom right beam（6）, upper left beam（7）, lower-left beam（8）, moving beam one（9）, electricity
Machine one（13）, motor two（14）, motor three（15）, motor four（16）, motor five（17）, motor six（18）With motor seven（19）,
It is characterized in that：The upper left beam（7）With lower-left beam（8）One end be fixed on supporting leg one（1）On, the upper left beam（7）And a left side
Underbeam（8）The other end be fixed on supporting leg two（2）On, the upper right beam（5）With bottom right beam（6）One end be fixed on supporting leg three
（3）On, the upper right beam（5）With bottom right beam（6）The other end be fixed on supporting leg four（4）On, the upper right beam（5）Left surface
On be fixed with guide rail four（33）, the bottom right beam（6）Left surface on be fixed with guide rail two（31）, the upper left beam（7）Right side
Guide rail three is fixed with face（32）, the lower-left beam（8）Guide rail one is fixed with right flank（30）, the upper right beam（5）It is upper
Guide rail six is fixed with surface（35）, the upper left beam（7）Upper surface on be fixed with guide rail five（34）, the motor one（13）
With motor three（15）It is fixed on supporting leg one（1）On, the motor two（14）It is fixed on supporting leg four（4）On, the motor one（13）
Transmission belt one can be passed through（21）Drive left handgrip lifting arm（12）In guide rail one（30）With guide rail three（32）Upper slip, the electricity
Machine two（14）Transmission belt two can be passed through（22）Drive right handgrip lifting arm（11）In guide rail two（31）With guide rail four（33）Upper cunning
It is dynamic, the motor three（15）Transmission belt three can be passed through（23）Drive Synchronous Transmission balance shaft（20）Rotate, the Synchronous Transmission
Balance shaft（20）Rotation can pass through transmission belt four（24）With transmission belt five（25）Drive moving beam two（10）In guide rail five
（34）With guide rail six（35）Upper slip, the moving beam one（9）Can be in guide rail five（34）With guide rail six（35）Upper slip, institute
State motor four（16）It is fixed on moving beam two（10）On, the motor four（16）Transmission belt six can be passed through（26）Drive arm
Support two（41）In moving beam two（10）On move reciprocatingly, the arm support two（41）Bottom be provided with handgrip installing plate
Four（39）, the motor five（17）It is fixed on moving beam one（9）On, the motor five（17）Transmission belt seven can be passed through（27）
Drive arm support one（40）In moving beam one（9）On move reciprocatingly, the arm support one（40）Bottom be provided with and grab
Handss installing plate three（38）, the motor six（18）It is fixed on left handgrip lifting arm（12）On, the motor six（18）Can pass through
Transmission belt eight（28）Drive handgrip installing plate one（36）In left handgrip lifting arm（12）On move reciprocatingly, the motor seven（19）
It is fixed on right handgrip lifting arm（11）On, the motor seven（19）Transmission belt nine can be passed through（29）Drive handgrip installing plate two
（37）In right handgrip lifting arm（11）On move reciprocatingly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621128421.3U CN206105860U (en) | 2016-10-17 | 2016-10-17 | Intelligent manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621128421.3U CN206105860U (en) | 2016-10-17 | 2016-10-17 | Intelligent manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206105860U true CN206105860U (en) | 2017-04-19 |
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ID=58529969
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621128421.3U Active CN206105860U (en) | 2016-10-17 | 2016-10-17 | Intelligent manipulator |
Country Status (1)
| Country | Link |
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| CN (1) | CN206105860U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426148A (en) * | 2016-10-17 | 2017-02-22 | 苏州新天将机械科技有限公司 | Intelligent mechanical arm |
-
2016
- 2016-10-17 CN CN201621128421.3U patent/CN206105860U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426148A (en) * | 2016-10-17 | 2017-02-22 | 苏州新天将机械科技有限公司 | Intelligent mechanical arm |
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