CN206216724U - A kind of stepless speed regulation telescopic arm and its step-less adjustment terminal-collecting machine of application - Google Patents
A kind of stepless speed regulation telescopic arm and its step-less adjustment terminal-collecting machine of application Download PDFInfo
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- CN206216724U CN206216724U CN201621285746.2U CN201621285746U CN206216724U CN 206216724 U CN206216724 U CN 206216724U CN 201621285746 U CN201621285746 U CN 201621285746U CN 206216724 U CN206216724 U CN 206216724U
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- sleeve
- telescopic arm
- arm
- movable pulley
- stepless speed
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Abstract
The utility model is related to the step-less adjustment terminal-collecting machine of a kind of grabbing device, specially a kind of stepless speed regulation telescopic arm and its application.A kind of stepless speed regulation telescopic arm, including telescopic arm, stepless speed-regulating device is provided with telescopic arm sleeve, telescopic arm includes at least three-level sleeve, second level sleeve is connected with straight line driving mechanism, and stepless speed-regulating device is the movable pulley being arranged on sleeve and the steel wire rope matched with movable pulley, and movable pulley is arranged on n-th grade of front end of sleeve, the steel wire rope two ends matched with movable pulley are separately positioned on the n-th 1 grades of sleeves and on (n+1)th grade of sleeve, and n is the integer more than 1.The utility model is by the way of the telescopic arm driven by drive device, the crawl size of terminal-collecting machine is set to adjust, using stepless speed regulation telescopic arm, telescopic arm can make quick response sized, successfully manage mechanical arm and carry the operating mode that workpiece size differs.
Description
Technical field
The utility model is related to the step-less adjustment of a kind of grabbing device, specially a kind of stepless speed regulation telescopic arm and its application
Terminal-collecting machine.
Background technology
Terminal-collecting machine refers to that installation is connected on the automatic conveying devices such as industrial robot or manipulator, using vacuum cup
Or clamp etc. be crawled thing and contact, the common name that thing is transported to specified location utensil from position will be crawled.Pick up at traditional end
Device appearance and size is fixed, and frame structure is built by aluminium section bar, draws workpiece using sucker to complete the carrying work of workpiece, tradition
Grabbing device does not have versatility for flexible production line, it is impossible to realizes step-less adjustment to specified size and fixes under this size
Work.Not of uniform size for workpiece size, mode of transport identical operating mode, existing terminal-collecting machine can not meet requirement.
Utility model content
The technical problems to be solved in the utility model is：It is not of uniform size for workpiece size, mode of transport identical operating mode,
Existing terminal-collecting machine can not meet requirement, to solve the above problems, there is provided a kind of stepless speed regulation telescopic arm and its application it is stepless
Regulation terminal-collecting machine.
The purpose of this utility model is realized in the following manner：
A kind of stepless speed regulation telescopic arm, including telescopic arm, stepless speed-regulating device is provided with telescopic arm sleeve, is stretched
Contracting arm includes at least three-level sleeve, and second level sleeve is connected with straight line driving mechanism, and stepless speed-regulating device is to be arranged on sleeve
Movable pulley and the steel wire rope that is matched with movable pulley, movable pulley is arranged on n-th grade of front end of sleeve, the steel wire matched with movable pulley
Rope two ends are separately positioned on (n-1)th grade of sleeve with (n+1)th grade of sleeve, and n is the integer more than 1.
Two opposite telescopic arms of telescopic direction form two-way electrodeless tune together by respective first order sleeve connection
Fast telescopic arm, in side, the front-end and back-end of first order sleeve are provided with fixed pulley, the steel wire rope two ends matched with fixed pulley
It is separately fixed on the second level sleeve coordinated with first order sleeve and on the second level sleeve of offside telescopic arm, straight line driving
Structure and the second level sleeve connection of side.
A kind of step-less adjustment terminal-collecting machine of stepless speed regulation telescopic arm, including supporting plate, peace is provided with the upper end of supporting plate
Dress flange, drive device is provided with the lower end of supporting plate, and the output end of drive device is connected with telescopic arm, and telescopic arm is stepless
Speed governing telescopic arm, the front end of telescopic arm is provided with grabbing device.
Telescopic arm includes telescopic sleeve and the stepless speed-regulating device being arranged on telescopic sleeve, and telescopic sleeve includes
At least three-level sleeve, stepless speed-regulating device is the movable pulley being arranged on sleeve and the steel wire rope matched with movable pulley, movable pulley
N-th grade of front end of sleeve is arranged on, the steel wire rope two ends matched with movable pulley are separately positioned on (n-1)th grade of sleeve and (n+1)th
On level sleeve, n is the integer more than 1.
Drive device and second level sleeve connection, first order sleeve are set on the supporting plate.
Drive device is to set straight line driving mechanism on the supporting plate, and output end and the second level of straight line driving mechanism cover
Cylinder connection.
Flexing transverse arm and longitudinal extension arm are provided with the both lateral sides of supporting plate and vertical both sides, it is laterally and vertical
Respectively by a straight line driving mechanism.
The telescopic arm of supporting plate both sides is fixed together to form centering body by respective first order sleeve,
The front-end and back-end of one-level sleeve are provided with fixed pulley, and the steel wire rope two ends matched with fixed pulley are separately fixed at and the first order
On the second level sleeve that sleeve coordinates and on the second level sleeve of offside telescopic arm, the of straight line driving mechanism and supporting plate side
Two-level sleeve is connected.
Flexing transverse arm and longitudinal extension arm are at least three groups, and the front end of flexing transverse arm is connected by one group of vertical telescopic arm
Connect, vertical telescopic arm front end is connected by one group of flexing transverse arm.
Relative to prior art, the utility model makes terminal-collecting machine by the way of the telescopic arm driven by drive device
Crawl size can be adjusted, and using stepless speed regulation telescopic arm, telescopic arm can make quick response sized, successfully manage machine
Tool arm carries the operating mode that workpiece size differs.
Brief description of the drawings
Fig. 1 is terminal-collecting machine expanded schematic diagram.
Fig. 2 is linear stepping motor and telescopic arm connection diagram.
Fig. 3 is Fig. 2 enlarged drawings A.
Fig. 4 is telescopic arm structure schematic diagram.
Fig. 5 is telescopic arm centering body.
Fig. 6 is terminal-collecting machine retraction schematic diagram.
Wherein, 1 is drive connection part；2 is drive device；3 is mounting flange；4 is supporting plate；5 is steel wire rope；6 are
Pulley；7 is rectangular tube；8 is self-lubrication pad；9 is vacuum cup；10 is metal plate connector；12 is movable pulley mounting seat；14 are
Steel wire rope aluminium gland；15 is linear stepping motor；16 is first order sleeve；17 is movable pulley II；19 is aluminium set fixing end；20 are
Steel wire rope I；21 is second level sleeve；24 is movable pulley II；25 is third level sleeve；26 is steel wire rope II；27 be fixed pulley I and
Erection support I；28 is to fix aluminium set I；29 is to fix aluminium set II；30 is fixed pulley steel wire rope；31 is fixed pulley II and installation branch
Seat II.
Specific embodiment
As shown in figs 1 to 6, a kind of stepless speed regulation telescopic arm, including telescopic arm, is provided with telescopic arm sleeve
Stepless speed-regulating device, telescopic arm includes at least three-level sleeve, and second level sleeve 21 is connected with straight line driving mechanism, stepless-adjustment quick-mounting
The movable pulley 6 being arranged on sleeve and the steel wire rope 5 matched with movable pulley 6 are set to, before movable pulley 6 is arranged on n-th grade of sleeve
End, the two ends of steel wire rope 5 matched with movable pulley 6 are separately positioned on (n-1)th grade of sleeve and on (n+1)th grade of sleeve, and n is more than 1
Integer.
Two opposite telescopic arms of telescopic direction are joined together to form two-way electrodeless by respective first order sleeve 16
Speed governing telescopic arm, is provided with fixed pulley, the steel wire rope matched with fixed pulley in the front-end and back-end of side first order sleeve 16
Two ends are separately fixed on the second level sleeve 21 coordinated with first order sleeve 16 and on the second level sleeve of offside telescopic arm, directly
Line drive mechanism and the second level sleeve connection of side.
Step-less adjustment terminal-collecting machine, including supporting plate 4, mounting flange 3 is provided with the upper end of supporting plate 4, in supporting plate 4
Lower end is provided with drive device 2, and the output end of drive device 2 is connected with telescopic arm, telescopic arm is provided with telescopic arm stepless
Arrangements for speed regulation, the front end of telescopic arm is provided with grabbing device.
Telescopic arm is telescopic sleeve, including at least three-level sleeve, and self-lubrication pad 8 is provided between sleeve, and sleeve is
Rectangular tube 7, stepless speed-regulating device is the movable pulley 6 being arranged on sleeve and the steel wire rope 5 matched with movable pulley 6, and movable pulley 6 sets
Put n-th grade of front end of sleeve, the two ends of steel wire rope 5 matched with movable pulley 6 are separately positioned on (n-1)th grade of sleeve and (n+1)th
On level sleeve, n is the integer more than 1.
Movable pulley 6 is arranged on sleeve by movable pulley mounting seat 12, as shown in figure 3, the end of steel wire rope 5 is provided with steel wire
Rope aluminium gland 14, is provided with aluminium gland fixed seat 19 on sleeve.
The annexation of movable pulley 6 and sleeve as shown in figure 4, use three-level sleeve in Fig. 4, first order sleeve 16,
Second level sleeve 21 and third level sleeve 25 are set with successively, and movable pulley II 17 is arranged on second level sleeve 21, is matched therewith
The one end of steel wire rope I 20 is arranged on first order sleeve 16, and the other end is arranged on third level sleeve 25.Direction is stretched out with sleeve
It is front end, movable pulley II 17 is arranged on the tail end of second level sleeve 21, and movable pulley II 24 is arranged on the front end of second level sleeve 21,
The two ends of steel wire rope II 26 matched with movable pulley II 24 are also to be separately positioned on first order sleeve 16 and on third level sleeve 25.
Drive device 2 is connected with second level sleeve 21, and first order sleeve 16 is arranged in supporting plate 4.
During motion, drive device 2 drives two-level sleeve 21 to be moved with speed v, because first order sleeve 16 is arranged on support
Plate 4, movable pulley II 17 is arranged on second level sleeve 21, and the one end of steel wire rope I 20 for matching therewith is arranged on first order sleeve 16
On, the other end is arranged on third level sleeve 25, and according to the principle of movable pulley, then third level sleeve 25 is moved with speed 2v, if
The rear end of third level sleeve 25 is connected with fourth stage sleeve, then control the movable pulley 6 of fourth stage sleeve to be arranged on third level sleeve 25
On, the two ends of steel wire rope 5 are separately mounted on second level sleeve 21 and fourth stage sleeve, then the speed of fourth stage sleeve is twice
The speed of third level sleeve 25 to subtract the speed of second level sleeve 21, the i.e. speed of fourth stage sleeve be 3v, from the foregoing, vi
=2vi-1-vi-2, i is the series of sleeve, and i is more than 2.
Drive device 2 is to be arranged on straight line driving mechanism in supporting plate 4, straight line driving mechanism can be linkage,
Linear electric motors and linear stepping motor 15, use linear stepping motor 15 in Fig. 2, the output end of linear stepping motor 15 with
Second level sleeve 21 is connected.The output end of linear stepping motor 15 is connected with drive connection part 1, drive connection part 1 and the second level
Sleeve 21 is connected.
Flexing transverse arm and longitudinal extension arm are provided with the both lateral sides of supporting plate 4 and vertical both sides, it is laterally and perpendicular
To respectively being driven by a linear stepping motor 15.
The telescopic arm of the both sides of supporting plate 4 is fixed together to form centering body by respective first order sleeve 16,
Be provided with fixed pulley in the front-end and back-end of first order sleeve 16, the steel wire rope two ends matched with fixed pulley be separately fixed at
First order sleeve 16 coordinate second level sleeve 21 on and the second level sleeve of offside telescopic arm on, straight line driving mechanism with support
The second level sleeve connection of the side of plate 4.
Fig. 5 is the structural representation of centering structure, because two first order sleeves 16 are arranged in juxtaposition, so two first order
Sleeve 16 has shared one group of fixed pulley, and fixed pulley I and erection support I 27 and fixed pulley two and erection support two are separately mounted to two
The two ends of the side arranged side by side of individual first order sleeve 16, are also equipped with the fixed pulley of correspondence one end, fixed pulley steel on first order sleeve 16
The two ends of cord 30 are separately mounted to the second level sleeve of both sides telescopic arm by fixed aluminium set I 28 and fixed aluminium set II 29 respectively
On.Using this structure, straight line driving mechanism when the second level sleeve 21 of side is driven, due to having for being installed on centering body
Fixed pulley and fixed pulley steel wire rope 30, the second level sleeve 21 of offside realize the fortune of synchronization in the presence of fixed pulley steel wire rope 30
It is dynamic.
Flexing transverse arm and longitudinal extension arm are at least three groups, and the front end of flexing transverse arm is connected by one group of vertical telescopic arm
Connect, vertical telescopic arm front end is connected by one group of flexing transverse arm.
Grabbing device is sucker, is connected by connector between sucker and telescopic arm.Grabbing device in Fig. 1, Fig. 2, Fig. 5
It is vacuum cup 9, connector is metal plate connector 10.
The utility model makes terminal-collecting machine have bigger operating radius using the combination of movable pulley 6 and telescopic arm, and realization is stretched
The stretching speed variable speed of contracting arm, various sizes of workpiece is not only gone in crawl, and being capable of quick response.
Above-described is only preferred embodiment of the present utility model, it is noted that for those skilled in the art
For, under the premise of the utility model general idea is not departed from, some changes and improvements can also be made, these should also be considered as
Protection domain of the present utility model.
Claims (9)
1. a kind of stepless speed regulation telescopic arm, including telescopic arm, it is characterised in that：Stepless-adjustment is provided with telescopic arm sleeve
Speed variator, telescopic arm includes at least three-level sleeve, and second level sleeve is connected with straight line driving mechanism, and stepless speed-regulating device is setting
Movable pulley on sleeve and the steel wire rope matched with movable pulley, movable pulley is arranged on n-th grade of front end of sleeve, with movable pulley
The steel wire rope two ends matched somebody with somebody are separately positioned on (n-1)th grade of sleeve with (n+1)th grade of sleeve, and n is the integer more than 1.
2. a kind of stepless speed regulation telescopic arm according to claim 1, it is characterised in that：Opposite flexible of two telescopic direction
Arm forms two-way stepless time adjustment telescopic arm together by respective first order sleeve connection, in the front end of side first order sleeve
Fixed pulley is provided with rear end, the steel wire rope two ends matched with fixed pulley are separately fixed at second coordinated with first order sleeve
On level sleeve and on the second level sleeve of offside telescopic arm, the second level sleeve connection of straight line driving mechanism and side.
3. using a kind of step-less adjustment terminal-collecting machine of the stepless speed regulation telescopic arm described in claim 1 or 2, it is characterised in that：Bag
Supporting plate is included, the upper end of supporting plate is provided with mounting flange, the lower end of supporting plate is provided with drive device, drive device
Output end is connected with telescopic arm, and telescopic arm is stepless speed regulation telescopic arm, and the front end of telescopic arm is provided with grabbing device.
4. step-less adjustment terminal-collecting machine according to claim 3, it is characterised in that：Telescopic arm includes telescopic sleeve and setting
Stepless speed-regulating device on telescopic sleeve, telescopic sleeve includes at least three-level sleeve, and stepless speed-regulating device is to be arranged on
Movable pulley on sleeve and the steel wire rope matched with movable pulley, movable pulley are arranged on n-th grade of front end of sleeve, are matched with movable pulley
Steel wire rope two ends be separately positioned on (n-1)th grade of sleeve and (n+1)th grade of sleeve on, n is the integer more than 1.
5. step-less adjustment terminal-collecting machine according to claim 4, it is characterised in that：Drive device and second level sleeve connection,
First order sleeve is set on the supporting plate.
6. step-less adjustment terminal-collecting machine according to claim 5, it is characterised in that：Drive device is to set on the supporting plate
Straight line driving mechanism, output end and the second level sleeve connection of straight line driving mechanism.
7. step-less adjustment terminal-collecting machine according to claim 6, it is characterised in that：In the both lateral sides of supporting plate and vertical two
Side is provided with flexing transverse arm and longitudinal extension arm, laterally and vertical each by a straight line driving mechanism.
8. step-less adjustment terminal-collecting machine according to claim 7, it is characterised in that：The telescopic arm of supporting plate both sides is by respective
First order sleeve be fixed together to form centering body, be provided with the front-end and back-end of first order sleeve and determine cunning
Wheel, the steel wire rope two ends matched with fixed pulley are separately fixed on the second level sleeve coordinated with first order sleeve and offside is flexible
On the second level sleeve of arm, the second level sleeve connection of straight line driving mechanism and supporting plate side.
9. step-less adjustment terminal-collecting machine according to claim 7, it is characterised in that：Flexing transverse arm and longitudinal extension arm are
At least three groups, the front end of flexing transverse arm is connected by one group of vertical telescopic arm, and vertical telescopic arm front end is by one group of flexing transverse arm
Connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621285746.2U CN206216724U (en) | 2016-11-28 | 2016-11-28 | A kind of stepless speed regulation telescopic arm and its step-less adjustment terminal-collecting machine of application |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621285746.2U CN206216724U (en) | 2016-11-28 | 2016-11-28 | A kind of stepless speed regulation telescopic arm and its step-less adjustment terminal-collecting machine of application |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206216724U true CN206216724U (en) | 2017-06-06 |
Family
ID=58787309
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621285746.2U Withdrawn - After Issue CN206216724U (en) | 2016-11-28 | 2016-11-28 | A kind of stepless speed regulation telescopic arm and its step-less adjustment terminal-collecting machine of application |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206216724U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514687A (en) * | 2016-11-28 | 2017-03-22 | 洛阳郑大物联科技有限公司 | Stepless speed regulating telescopic arm and stepless regulating tooling employing the same |
-
2016
- 2016-11-28 CN CN201621285746.2U patent/CN206216724U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514687A (en) * | 2016-11-28 | 2017-03-22 | 洛阳郑大物联科技有限公司 | Stepless speed regulating telescopic arm and stepless regulating tooling employing the same |
| CN106514687B (en) * | 2016-11-28 | 2019-07-26 | 洛阳郑大物联科技有限公司 | A kind of stepless speed regulation telescopic arm and its step-less adjustment terminal-collecting machine of application |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170606 Effective date of abandoning: 20190726 |
|
| AV01 | Patent right actively abandoned |