CN206216716U - Based on the electric manipulator that casing is carried - Google Patents
Based on the electric manipulator that casing is carried Download PDFInfo
- Publication number
- CN206216716U CN206216716U CN201621086024.4U CN201621086024U CN206216716U CN 206216716 U CN206216716 U CN 206216716U CN 201621086024 U CN201621086024 U CN 201621086024U CN 206216716 U CN206216716 U CN 206216716U
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- ball
- bearing
- clamping plate
- ball screw
- pedestal
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- Expired - Fee Related
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Abstract
The utility model is related to a kind of end installed in transfer robot, the casing conveying robot with stepper motor as drive device.Its structure includes：Double output shaft stepper motor two ends connect a pair left-handed ball wire bar pairs and a pair of dextrorotation ball wire bar pairs by shaft coupling, and dextrorotation ball screw nut is arranged on clamping plate I, and left-handed ball screw nut is arranged on clamping plate clamping plate II；Rotary roll ballscrew two ends are respectively provided with a deep groove ball bearing and a plain thrust bearing, and outboard end is covered and is mounted with pressure sensor, for detecting by the axial compressive force of plain thrust bearing；On pedestal, sliding block is arranged on clamping plate I and clamping plate II line slide rail by A-frame, and clamping plate I and clamping plate II can be while in opposite directions or move backward along line slide rail；The both sides of clamping plate I are provided with travel switch I and travel switch II, to detect two extreme positions of stroke.Carrying of the utility model to casing is highly reliable, it is not necessary to other auxiliary equipments, simple structure, easy to installation and maintenance.
Description
Technical field
The utility model belongs to automated production equipment field, and in particular in carrying of the automatic production line to case member
Or the electric manipulator of sorting.
Background technology
, it is necessary to be carried to the product or raw material of a large amount of casings packaging in the production process of automation.Using removing
Fortune robot realizes the automated handling to case member, larger can save manpower and production cost, improves formation efficiency.Carry
Robot has the advantage such as compact conformation, technology maturation, easy to control and agile, is widely used in various automations
In production process.The manipulator that casing is carried is arranged on the end of robot, completes crawl and placement to case member.Remove at present
The working method design comparison for transporting manipulator is single, poor to carrying various sizes of casing adaptability, at the same with pneumatic cylinder or
Hydraulic cylinder has been also accompanied by a large amount of auxiliary equipments for the manipulator of power set.With many sizes and work of casing product category
Make the complexity of environment and a kind of be applicable to carry sizes and intelligent strong manipulator automatic to meet, it is necessary to design
The need for metaplasia is carried in producing to case member.
The content of the invention
The utility model is the electric manipulator carried based on casing, mainly during solution automated production, to various
The problem that the case member of size and different angles is carried.
The fixed plate 1 being connected with robot end is included based on the electric manipulator that casing is carried, under fixed plate 1
The hold-down support 2 of side, installed in the pedestal 3 of the lower section of hold-down support 2；Motor fixing seat 4 on the inside of the truss of pedestal 3, peace
Double output shaft stepper motor 5 in motor fixing seat 4, double output shaft stepper motor 5 passes through shaft coupling 6 and left-handed ball wire
Bar 7 is connected, and plain thrust bearing I 8 is arranged in the mounting hole of pedestal 3, and plain thrust bearing I 8 is by bearing shim I 9 and deeply
Ditch ball bearing I 10 is installed along with one end of left-handed ball screw 7, and deep groove ball bearing I 10 passes through bearing shim II 11 and bearing
End cap I 12 is installed along with pedestal 3；Bearing (ball) cover II 13 is arranged on the inner side of the truss of pedestal 3, the inner side of bearing (ball) cover II 13 peace
Equipped with bearing shim III 14 and deep groove ball bearing II 15, the inner side of deep groove ball bearing II 15 is provided with bearing shim IV 16 and plane is pushed away
Power bearing II 17, the outside of plain thrust bearing II 17 has bearing (ball) cover III 18 to be arranged on the outside of the truss of pedestal 3；Left-handed ball wire
Stem nut 19 is slid axially on left-handed ball screw 7, and left-handed ball screw nut 19 is arranged on clamping plate I 20, and clamping plate I 20 leads to
Cross A-frame 21 and sliding block 22 is installed, sliding block 22 is arranged on the lower section of line slide rail 23, and line slide rail 23 is arranged on pedestal 3；
Dextrorotation ball screw 24 is symmetrically mounted on pedestal 3 with left-handed ball screw 7, and dextrorotation ball screw nut 25 is in dextrorotation ball wire
Slid axially on bar 24, dextrorotation ball screw nut 25 is arranged on clamping plate II 26；The He of travel switch I 27 is installed on pedestal 3
Travel switch II 28.
Described left-handed ball screw 7 and left-handed ball screw nut 19 is a pair left-handed ball wire bar pairs；Dextrorotation ball
Screw mandrel 24 and dextrorotation ball screw nut 25 are a pair of dextrorotation ball wire bar pairs；The positive and negative rotation of double output shaft stepper motor 5, passes through
Two pairs of ball wire bar pairs drive clamping plate I 26 and clamping plate II 20 simultaneously opposite or reverse movement same displacement.
Pressure sensor 18.2, the one of end cap base 18.1 are housed on the end cap base 18.1 of described bearing (ball) cover III 18
Side is equipped with line outlet 18.3；Left-handed ball screw 7 can slightly be slided in shaft coupling 6, and pressure sensor 18.2 is capable of detecting when a left side
The axial force that rotary roll ballscrew 7 is transmitted by plain thrust bearing II 17.
Described travel switch I 27 can detect that clamping plate II 26 reaches the extreme position opened；Travel switch II 28 can be with
Detection clamping plate II 26 reaches extreme position during closure.
The beneficial effects of the utility model：
1. the utility model drives the ball wire bar pair of two pairs of different rotation directions to realize by single double output shaft stepper motor
Crawl to case member, compact overall structure, the carrying of applicable sizes casing.
2. the utility model is provided with pressure sensor and travel switch, realizes full automation operation.
3. the utility model uses symmetrical structure, and simple structure is easy to installation and maintenance.And operationally not
Need to add other auxiliary equipments.
Brief description of the drawings
Accompanying drawing 1 is the explosive state structural representation of the electric manipulator carried based on casing.
Accompanying drawing 2 is the structural representation of the electric manipulator carried based on casing.
Accompanying drawing 3 is the present invention looks up structural representation of the electric manipulator carried based on casing.
Accompanying drawing 4 is the structural representation of pedestal.
Accompanying drawing 5 is the structural representation of shaft coupling.
Accompanying drawing 6 is the structural representation of left-handed ball screw.
Accompanying drawing 7 is the structural representation of outside end cap.
Accompanying drawing 8 is the structural representation of A-frame.
Specific embodiment
Structural principle of the present utility model is elaborated below in conjunction with accompanying drawing:
The fixed plate 1 being connected with robot end is included based on the electric manipulator that casing is carried, under fixed plate 1
The hold-down support 2 of side, installed in the pedestal 3 of the lower section of hold-down support 2；Motor fixing seat 4 on the inside of the truss of pedestal 3, peace
Double output shaft stepper motor 5 in motor fixing seat 4, double output shaft stepper motor 5 passes through shaft coupling 6 and left-handed ball wire
Bar 7 is connected, and plain thrust bearing I 8 is arranged in the mounting hole of pedestal 3, and plain thrust bearing I 8 is by bearing shim I 9 and deeply
Ditch ball bearing I 10 is installed along with one end of left-handed ball screw 7, and deep groove ball bearing I 10 passes through bearing shim II 11 and bearing
End cap I 12 is installed along with pedestal 3；Bearing (ball) cover II 13 is arranged on the inner side of the truss of pedestal 3, the inner side of bearing (ball) cover II 13 peace
Equipped with bearing shim III 14 and deep groove ball bearing II 15, the inner side of deep groove ball bearing II 15 is provided with bearing shim IV 16 and plane is pushed away
Power bearing II 17, the outside of plain thrust bearing II 17 has bearing (ball) cover III 18 to be arranged on the outside of the truss of pedestal 3；Left-handed ball wire
Stem nut 19 is slid axially on left-handed ball screw 7, and left-handed ball screw nut 19 is arranged on clamping plate I 20, and clamping plate I 20 leads to
Cross A-frame 21 and sliding block 22 is installed, sliding block 22 is arranged on the lower section of line slide rail 23, and line slide rail 23 is arranged on pedestal 3；
Dextrorotation ball screw 24 is symmetrically mounted on pedestal 3 with left-handed ball screw 7, and dextrorotation ball screw nut 25 is in dextrorotation ball wire
Slid axially on bar 24, dextrorotation ball screw nut 25 is arranged on clamping plate II 26；The He of travel switch I 27 is installed on pedestal 3
Travel switch II 28.Left-handed ball screw 7 and left-handed ball screw nut 19 are a pair left-handed ball wire bar pairs；Dextrorotation ball wire
Bar 24 and dextrorotation ball screw nut 25 are a pair of dextrorotation ball wire bar pairs；The positive and negative rotation of double output shaft stepper motor 5, by two
Drive clamping plate I 26 and clamping plate II 20 simultaneously opposite to ball wire bar pair or reverse movement same displacement.The end of bearing (ball) cover III 18
Pressure sensor 18.2 is housed, the side of end cap base 18.1 is equipped with line outlet 18.3 on lid pedestal 18.1.
Specific works mode one：
When crawl task is realized：Double output shaft stepper motor 5 is rotated forward, and two pairs of ball wire bar pairs drive clamping plate I 20
Moved towards simultaneously with clamping plate II 26, four groups of line slide rails and sliding block rise to two clamping plates and be oriented to and supporting role.When clipping to casing
Shi Zuoxuan ball screws 7 can slightly be slided in shaft coupling 6, and pressure sensor 18.2 is capable of detecting when that left-handed ball screw 7 passes through
The axial force of the transmission of plain thrust bearing II 17；When pressure reaches setting value, double output shaft stepper motor 5 stops rotating forward,
Complete gripping task.The touching travel switch II 28 of clamping plate II 26 when without crawl casing, double output shaft stepper motor 5 stops just
To rotation, clamping plate II 26 reaches extreme position during closure.
When realizing placing casing：Double output shaft stepper motor 5 is rotated backward, and two pairs of ball wire bar pairs drive clamping plate I 20
Moved backward simultaneously with clamping plate II 26, when clamping plate II 26 touches travel switch I 27, double output shaft stepper motor 5 stops reversely turning
Dynamic, clamping plate II 26 reaches extreme position when opening, and completes the placement of casing.
Claims (4)
1. the electric manipulator carried based on casing, it is characterised in that：Including the fixed plate being connected with robot end（1）, peace
Mounted in fixed plate（1）The hold-down support of lower section（2）, installed in hold-down support（2）The pedestal of lower section（3）；Installed in pedestal（3）Purlin
Motor fixing seat on the inside of frame（4）, installed in motor fixing seat（4）On double output shaft stepper motor（5）, double output shaft stepping
Motor（5）By shaft coupling（6）With ball screw（7）Connection, plain thrust bearing（8）Installed in pedestal（3）Mounting hole in,
Plain thrust bearing（8）By bearing shim（9）With deep groove ball bearing（10）It is installed along with ball screw（7）One end, it is deep
Ditch ball bearing（10）By bearing shim（11）With bearing (ball) cover（12）It is installed along with pedestal（3）On；Bearing (ball) cover（13）Peace
Mounted in pedestal（3）The inner side of truss, bearing (ball) cover（13）Inner side is provided with bearing shim（14）And deep groove ball bearing（15）, zanjon
Ball bearing（15）Inner side is provided with bearing shim（16）And plain thrust bearing（17）, plain thrust bearing（17）There is end cap in outside
（18）Installed in pedestal（3）The outside of truss；Ball screw nut（19）In ball screw（7）On slide axially, ball screw
Nut（19）Installed in clamping plate II（20）On, clamping plate II（20）Both sides pass through A-frame（21）Sliding block is installed（22）, sliding block
（22）Installed in line slide rail（23）Lower section, ball screw（24）With ball screw（7）It is symmetrically mounted on pedestal（3）On, ball
Feed screw nut（25）In ball screw（24）On slide axially, ball screw nut（25）Installed in clamping plate I（26）On；Pedestal
（3）On travel switch I is installed（27）With travel switch II（28）.
2. described in claim 1 based on casing carry electric manipulator, it is characterised in that：Described ball screw（24）With
Ball screw nut（25）It is a pair of dextrorotation ball wire bar pairs；Ball screw（7）And ball screw nut（19）It is left-handed a pair
Ball wire bar pair；Double output shaft stepper motor（5）Positive and negative rotation, clamping plate I is driven by two pairs of ball wire bar pairs（26）And clamping plate
Ⅱ（20）Simultaneously opposite or reverse movement same displacement.
3. described in claim 1 based on casing carry electric manipulator, it is characterised in that：Described end cap（18）Bearing
End cap（18.1）It is upper that pressure sensor is housed（18.2）, bearing (ball) cover（18.1）Side be equipped with line outlet（18.3）；Ball wire
Bar（7）Can be in shaft coupling（6）It is slight to slide, pressure sensor（18.2）It is capable of detecting when ball screw（7）By plane thrust
Bearing（8）The axial force of transmission.
4. described in claim 1 based on casing carry electric manipulator, it is characterised in that：Described travel switch I（27）
Clamping plate I can be detected（26）Reach the extreme position opened；Travel switch II（28）Clamping plate I can be detected（26）When reaching closure
Extreme position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621086024.4U CN206216716U (en) | 2016-09-28 | 2016-09-28 | Based on the electric manipulator that casing is carried |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621086024.4U CN206216716U (en) | 2016-09-28 | 2016-09-28 | Based on the electric manipulator that casing is carried |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206216716U true CN206216716U (en) | 2017-06-06 |
Family
ID=58782777
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621086024.4U Expired - Fee Related CN206216716U (en) | 2016-09-28 | 2016-09-28 | Based on the electric manipulator that casing is carried |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206216716U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108637996A (en) * | 2018-04-26 | 2018-10-12 | 苏州睿鑫莱机电科技有限公司 | A kind of metal tube plank Two-purpose paper clip holds device |
| CN110239969A (en) * | 2019-06-18 | 2019-09-17 | 中国民航大学 | A kind of luggage case/carton grasping manipulator |
| CN110814823A (en) * | 2019-12-03 | 2020-02-21 | 东台东之达电子有限公司 | Accurate CNC processing quick pneumatic clamping tool |
| CN111230908A (en) * | 2020-02-25 | 2020-06-05 | 无锡多恩多自动化有限公司 | Novel mechanical gripper |
-
2016
- 2016-09-28 CN CN201621086024.4U patent/CN206216716U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108637996A (en) * | 2018-04-26 | 2018-10-12 | 苏州睿鑫莱机电科技有限公司 | A kind of metal tube plank Two-purpose paper clip holds device |
| CN110239969A (en) * | 2019-06-18 | 2019-09-17 | 中国民航大学 | A kind of luggage case/carton grasping manipulator |
| CN110814823A (en) * | 2019-12-03 | 2020-02-21 | 东台东之达电子有限公司 | Accurate CNC processing quick pneumatic clamping tool |
| CN111230908A (en) * | 2020-02-25 | 2020-06-05 | 无锡多恩多自动化有限公司 | Novel mechanical gripper |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170606 Termination date: 20170928 |