CN206588946U - A kind of rapid starting/stopping manipulator - Google Patents
A kind of rapid starting/stopping manipulator Download PDFInfo
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- CN206588946U CN206588946U CN201720243044.6U CN201720243044U CN206588946U CN 206588946 U CN206588946 U CN 206588946U CN 201720243044 U CN201720243044 U CN 201720243044U CN 206588946 U CN206588946 U CN 206588946U
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- fixedly connected
- shell
- axis slide
- double
- driving
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Abstract
The utility model provides a kind of rapid starting/stopping manipulator, including transverse arm component, lifting assembly, shell and conveying assembly；Described shell is located at the lower section of the transverse arm component, and described lifting assembly is located at the inside of described shell, through described upper surface of outer cover, is fixedly connected with described transverse arm component；Described transverse arm component be located at described lifting assembly top, one end with lifting assembly be fixedly connected；Described conveying assembly be located at shell inside, through the both side surface of described shell, be fixedly connected with described shell.A kind of rapid starting/stopping manipulator that the utility model is provided; pass through the high-speed starting and stopping of servomotor; cooperative mechanical is driven; ensure manipulator can on slide rail rapid starting/stopping and it is determined that position is accurately positioned; at in-position, limit switch is opened and closes motor, and now manipulator stops at once; it will not be continued to move to because of machinery inertials such as gear drives, improve production efficiency.
Description
Technical field
The utility model is related to a kind of manipulator, more particularly to a kind of rapid starting/stopping manipulator.
Background technology
Manipulator has been widely used in processing, is used in various fields, and common manipulator is typically fixed
In equipment, by cantilever come adjustment position capture part, by position sensor obtain part accurate location, but with
When slightly crawl transmission at a distance, manipulator needs movement, and precise positioning, rapid starting/stopping becomes the difficulty that manipulator is used
Topic.
Common motion mode is using sensor positioning, hydraulic cylinder, due to can gently protecting for hydraulic cylinder power
Manipulator accurate positioning is demonstrate,proved, but in efficient production process, demand can not be met by starting slow hydraulic cylinder；Adopt
With can be current mainstream thoughts with the servomotor of rapid starting/stopping, but the power of servomotor be converted into track side
To power when, it is unavoidable the need for by way of mechanical transfer, and in the process, after motor stops, machine driving
Inertia and contact blind area are there is, the revolution of the movement either motor of whole equipment can be caused, manipulator can be directly influenced
Positioning and servomotor service life.
Utility model content
Technical problem to be solved in the utility model is：Improve the mechanical connection manner of servomotor and manipulator,
The manipulator when servomotor stops is stopped at once, movement is no longer produced, it is accurate fixed to be reached while protection motor
Position, realizes the rapid starting/stopping motion of manipulator.
In order to solve the above technical problems, the technical solution of the utility model is：A kind of rapid starting/stopping manipulator, including transverse arm
Component, lifting assembly, shell and conveying assembly；Described shell is located at the lower section of the transverse arm component, described lifting assembly
Positioned at the inside of described shell, through described upper surface of outer cover, it is fixedly connected with described transverse arm component；Described transverse arm
Component be located at described lifting assembly top, one end with lifting assembly be fixedly connected, the other end stretches out, and vacantly exists
The top of product；Described conveying assembly be located at shell inside, it is and described through the both side surface of described shell
Shell is fixedly connected.
Described conveying assembly include conveying servomotor, upper crossbearer, driving Double-axis slide, driving Double-axis slide rail,
Slide rail connecting seat, lower cross frame, driven Double-axis slide rail and driven Double-axis slide；Described conveying servomotor is located at described
The centre position of enclosure, is fixedly connected with described shell；Described driving Double-axis slide rail crosses described shell, position
In the top of described conveying servomotor, it is fixed in equipment；Described driving Double-axis slide be located at driving twin shaft
On heart slide rail, coordinate with described driving Double-axis slide rail, slidably；Described upper crossbearer is located at described Double-axis slide
Top, be fixedly connected with described shell, while being fixedly connected with described driving Double-axis slide；Described lower cross frame position
In the lower inside of described shell, it is fixedly connected with described shell；Described driven Double-axis slide be located at it is described under
The lower section of crossbearer, is fixedly connected with described lower cross frame, while on described driven Double-axis slide rail slidably；It is described
Driven Double-axis slide rail cross described shell, be fixed in equipment.
Further, connecting seat, described company are provided between described conveying servomotor and driving Double-axis slide
Joint chair is connected and coordinated positioned at described driving Double-axis slide.
Further, it is provided with connecting rod between described driving Double-axis slide and driven Double-axis slide；Described
The two ends of connecting rod are fixedly connected with described driving Double-axis slide and driven Double-axis slide respectively.
Further, the top of described upper crossbearer sets limit switches, described limit switch and described shell
It is fixedly connected.
Further, described lifting assembly includes lifting line slide rail, cylinder column, leading screw, contiguous block, lifting transmission
Axle, driving belt, driven runner, driving runner and lift servo motor；Described cylinder column runs through described shell, upper end
It is fixedly connected with described transverse arm component, lower end is fixedly connected with the lower surface of described shell；Described leading screw is located at described
Cylinder column right side, through described shell, upper end is fixedly connected with described transverse arm component, lower end and described connection
Block is connected；Described lifting line slide rail is located at the both sides of described cylinder column and leading screw, upper and lower ends with it is described outer
Shell is fixedly connected；Described contiguous block is located at the lower inside of described shell, and one end is connected with described leading screw, one section and institute
The lifting power transmission shaft stated is fixedly connected；Described lifting power transmission shaft runs through the lower surface of described shell, with described driven turn
Wheel secures connection；Described driven runner is located at the lower section of described shell, and position is corresponding with described leading screw；Described
Driving belt be located at described driven runner and driving runner it is cylindrical on, with described driven runner and drive runner closely paste
Close；Described lift servo motor is located at the inside lower right corner of described shell, is fixedly connected with described shell, through described
Shell lower surface, be fixedly connected with described driving runner；Described driving runner is located at described lift servo motor
Lower section, while positioned at the lower section of described shell, position is corresponding with described lift servo motor.
Further, described transverse arm component includes crossbeam, left support, intermediate supports, right support and mechanical gripping；Described
Crossbeam be located at lifting assembly top, be fixedly connected with described lifting assembly；Described left support is located at described horizontal stroke
The left position of beam, is fixedly connected with described crossbeam；Described intermediate supports be located at crossbeam centre position, it is and described
Crossbeam be fixedly connected；Described right support is located at the right-hand member of described crossbeam, is fixedly connected with described crossbeam；Described machine
Machinery claw is located at the lower section of described left support, intermediate supports and right support, solid with described left support, intermediate supports and right support
Fixed connection.
Further, described gripper has four, symmetrical two-by-two, in the lower section of described intermediate supports, phase
It is symmetrical with mechanical gripping below described left support and right support respectively to the gripper described in distribution two.
Compared with prior art, a kind of rapid starting/stopping manipulator that the utility model is provided, passes through the quick of servomotor
Start and stop function, cooperative mechanical transmission, it is ensured that manipulator can on slide rail rapid starting/stopping and it is determined that position is accurately positioned,
During in-position, limit switch is opened and closes motor, and now manipulator stops at once, will not be used because of the machinery such as gear drive
Property and continue to move to, improve production efficiency.
Brief description of the drawings
Fig. 1 shows front view of the present utility model.
Fig. 2 shows right view of the present utility model.
Wherein：1. transverse arm component, 2. lifting assemblies, 3. shells, 4. conveying assemblies, 5. crossbeams, 6. left supports, in the middle of 7.
Support, 8. right supports, 9. grippers, 10. leading screws, 11. cylinder columns, 12. limit switches, crossbearer, 14. driving twin shafts on 13.
Heart slide, 15. driving Double-axis slide rails, 16. connecting seats, 17. conveying servomotors, 18. lifting line slide rails, 19. times horizontal strokes
Frame, 20. driven Double-axis slide rails, 21. driven Double-axis slides, 22. contiguous blocks, 23. lifting power transmission shafts, 24. driven runners,
25. driving belt, 26. driving runners, 27. lift servo motors, 28. lower fixed seats, 29. lifting sliders, 30. upper fixed seats,
31 connecting rods.
Embodiment
As illustrated, a kind of rapid starting/stopping manipulator, including transverse arm component 1, lifting assembly 2, shell 3 and conveying assembly 4；
Described shell 3 is located at the lower section of the transverse arm component 1, and described lifting assembly 2 is located at the inside of described shell 3, run through
The upper surface of described shell 3, is fixedly connected with described transverse arm component 2；Described transverse arm component 1 is located at described lifting group
The top of part 2, one end with lifting assembly 2 be fixedly connected, the other end stretches out, vacantly in the top of product；Described
Conveying assembly 4 be located at shell 3 inside, through the both side surface of described shell 3, be fixedly connected with described shell 3.
Described conveying assembly 4 includes conveying servomotor 17, upper crossbearer 13, driving Double-axis slide 14, driving twin shaft
Heart slide rail 15, lower cross frame 19, driven Double-axis slide rail 20 and driven Double-axis slide 21；Described conveying servomotor 17 is located at
Centre position inside described shell 3, is fixedly connected with described shell 3, for providing mobile power；Described driving is double
Axle center slide rail 15 crosses described shell 3, positioned at the top of described conveying servomotor 17, is fixed in equipment, is used as machine
The mobile basis of tool hand is used；Described driving Double-axis slide 14 be located at driving Double-axis slide rail 15 on, it is and described
Driving Double-axis slide rail 15 coordinates, and slidably, driving mechanical hand is slided together；Described upper crossbearer 13 is located at described twin shaft
The top of heart slide 14, is fixedly connected with described shell 3, while being fixedly connected with described driving Double-axis slide 15, uses
In the driving Double-axis slide 15 described in fixation, it is set to drive whole manipulator to slide when sliding；Described lower cross frame 19
In the lower inside of described shell 3, it is fixedly connected with described shell 3, for the driven Double-axis slide described in fixation
21；Described driven Double-axis slide 21 is located at the lower section of described lower cross frame 19, is fixedly connected with described lower cross frame 19, together
When on described driven Double-axis slide rail 20 slidably, slide when control machinery hand integrally is moved along slide rail；It is described
Driven Double-axis slide rail 20 cross described shell, be fixed in equipment, used as the mobile basis of manipulator.
Further, connecting seat 16, institute are provided between described conveying servomotor 17 and driving Double-axis slide 14
The connecting seat 16 stated is connected and coordinated positioned at described driving Double-axis slide 14, by the rotation of described conveying servomotor 17
The horizontal rectilinear movement of described Double-axis slide 14 is converted into, can be completed by conventional means such as rack-and-pinion, bevel gears.
Further, it is provided with connecting rod 31 between described driving Double-axis slide 14 and driven Double-axis slide 21；
The two ends of described connecting rod 31 are fixedly connected with described driving Double-axis slide 14 and driven Double-axis slide 21 respectively, are used
Synchronously carried out in the motion for ensureing two slides.
Further, the top of described upper crossbearer 13 sets limit switches 12, described limit switch 12 with it is described
Shell 3 be fixedly connected, the start and stop position for controlling whole manipulator.
Further, described lifting assembly 2 includes lifting line slide rail 18, cylinder column 11, leading screw 10, contiguous block
22nd, lifting power transmission shaft 23, driving belt 25, driven runner 24, driving runner 26 and lift servo motor 27；Described cylinder is stood
Post 11 runs through described shell 3, and upper end is fixedly connected with described transverse arm component 2, and lower end and the lower surface of described shell 3 are consolidated
Fixed connection, for aiding in described transverse arm component 2 to move up and down；Described leading screw 10 is located at described cylinder column 11
Right side, through described shell 3, upper end is fixedly connected with described transverse arm component 2, and lower end is connected with described contiguous block 22,
Major impetus for providing lifting；Described lifting line slide rail 18 is located at the two of described cylinder column 11 and leading screw 10
Side, upper and lower ends are fixedly connected with described shell 3, are used as the basis of lifting moving；Described contiguous block 22 is located at
The lower inside of described shell 3, one end is connected with described leading screw 10, is fixed for one section and is connected with described lifting power transmission shaft 23
Connect, for connecting described lifting power transmission shaft 23 and leading screw 10, transmit power；Described lifting power transmission shaft 23 is through described outer
The lower surface of shell 3, secures with described driven runner 24 and is connected, for transmitting power；Described driven runner 24 is located at institute
The lower section for the shell 3 stated, position is corresponding with described leading screw 10；Described driving belt 25 is located at described driven runner 24
With driving runner 26 it is cylindrical on, with described driven runner 24 and drive runner 26 be brought into close contact, for being driven from described
The power for driving runner 26 to transmit；Described lift servo motor 27 is located at the inside lower right corner of described shell 3, and described
Shell 3 be fixedly connected, through the lower surface of described shell 3, be fixedly connected with described driving runner 26, it is dynamic for providing
Power；Described driving runner 26 is located at the lower section of described lift servo motor 27, while positioned at the lower section of described shell 3,
It is fixedly connected with described lift servo motor 27, for transmitting power.
Further, described transverse arm component 1 includes crossbeam 5, left support 6, intermediate supports 7, right support 8 and gripper
9；Described crossbeam 5 be located at lifting assembly 2 top, be fixedly connected with described lifting assembly 2, be used as described horizontal stroke
The basis of arm component 1 is used；Described left support 6 is located at the left position of described crossbeam 5, fixes and connects with described crossbeam 5
Connect；Described intermediate supports 7 be located at crossbeam 5 centre position, be fixedly connected with described crossbeam 5；Described right support
8 are located at the right-hand member of described crossbeam 5, are fixedly connected with described crossbeam 5；Described gripper 9 be located at described left support 6,
The lower section of intermediate supports 7 and right support 8, is fixedly connected with described left support 6, intermediate supports 7 and right support 8, for capturing
Product.
Further, described gripper 9 has four, symmetrical two-by-two, in the lower section of described intermediate supports, phase
To the gripper 9 being distributed described in two, the gripper with the described lower section of left support 6 and right support 8 is symmetrical respectively, it is ensured that can
To capture two set products simultaneously.
When in use, described conveying servomotor 17 is opened, drives described connecting seat 16 to move, so that described
Driving Double-axis slide 14 slided on described driving Double-axis slide rail 15, driven by described connecting rod 31 described
Driven Double-axis slide 21 is slided, and then causes whole manipulator to start to slide, and when in-position, passes through sensor passes number
According to at described limit switch 12, described limit switch 12 is opened, and described conveying servomotor 17 is closed, once close
Close, described connecting seat 16 will be unable to remain in operation, cause described driving Double-axis slide 14 to stop immediately, due to being slide
With the cooperation of slide rail, therefore in the absence of because continuing motion the reason for inertia, so that controlling whole manipulator to be located at determines position
Put and can be with rapid starting/stopping.
Now described lift servo motor 27 is opened, by the described opening movement of lifting assembly 2, so as to drive described
The motion of transverse arm component 1, carries out crawl campaign, the function of present manipulator.
It is last it should be noted that above example is only to illustrate the technical solution of the utility model and non-limiting skill
Art scheme, it will be understood by those within the art that, those are modified or waited to the technical solution of the utility model
With replacing, without departing from the objective and scope of the technical program, it all should cover among right of the present utility model.
Claims (7)
1. a kind of rapid starting/stopping manipulator, it is characterised in that including transverse arm component, lifting assembly, shell and conveying assembly；It is described
Shell be located at the lower section of the transverse arm component, described lifting assembly is located at the inside of described shell, through described outer
Shell upper surface, is fixedly connected with described transverse arm component；Described transverse arm component is located at the top of described lifting assembly, one end
With lifting assembly be fixedly connected, the other end stretches out, vacantly in the top of product；Described conveying assembly be located at
The inside of shell, through the both side surface of described shell, is fixedly connected with described shell；
Described conveying assembly includes conveying servomotor, upper crossbearer, driving Double-axis slide, driving Double-axis slide rail, slide rail
Connecting seat, lower cross frame, driven Double-axis slide rail and driven Double-axis slide；Described conveying servomotor is located at described shell
Internal centre position, is fixedly connected with described shell；Described driving Double-axis slide rail crosses described shell, positioned at institute
The top for the conveying servomotor stated, is fixed in equipment；Described driving Double-axis slide is located at the driving Double-axis cunning of institute
On rail, coordinate with described driving Double-axis slide rail, slidably；Described upper crossbearer is located at the upper of described Double-axis slide
Side, is fixedly connected with described shell, while being fixedly connected with described driving Double-axis slide；Described lower cross frame is located at institute
The lower inside for the shell stated, is fixedly connected with described shell；Described driven Double-axis slide is located at described lower cross frame
Lower section, be fixedly connected with described lower cross frame, while on described driven Double-axis slide rail slidably；It is described from
Dynamic Double-axis slide rail crosses described shell, is fixed in equipment.
2. a kind of rapid starting/stopping manipulator as claimed in claim 1, it is characterised in that described conveying servomotor and driving
Connecting seat is provided between Double-axis slide, described connecting seat is connected and coordinated positioned at described driving Double-axis slide.
3. a kind of rapid starting/stopping manipulator as claimed in claim 1, it is characterised in that described driving Double-axis slide and from
Connecting rod is provided between dynamic Double-axis slide；The two ends of described connecting rod respectively with described driving Double-axis slide and from
Dynamic Double-axis slide is fixedly connected.
4. a kind of rapid starting/stopping manipulator as claimed in claim 1, it is characterised in that be provided with above described upper crossbearer
Limit switch, described limit switch is fixedly connected with described shell.
5. a kind of rapid starting/stopping manipulator as claimed in claim 1, it is characterised in that it is straight that described lifting assembly includes lifting
Line slide rail, cylinder column, leading screw, contiguous block, lifting power transmission shaft, driving belt, driven runner, driving runner and lift servo electricity
Machine；Described cylinder column runs through described shell, and upper end is fixedly connected with described transverse arm component, lower end and described shell
Lower surface be fixedly connected；Described leading screw is located at the right side of described cylinder column, through described shell, upper end with it is described
Transverse arm component be fixedly connected, lower end is connected with described contiguous block；Described lifting line slide rail is vertical positioned at described cylinder
The both sides of post and leading screw, upper and lower ends are fixedly connected with described shell；Described contiguous block is located at the interior of described shell
Below portion, one end is connected with described leading screw, and one section is fixedly connected with described lifting power transmission shaft；Described lifting power transmission shaft is passed through
The lower surface of described shell is worn, secures and is connected with described driven runner；Described driven runner is located at described shell
Lower section, position is corresponding with described leading screw；Described driving belt is located at described driven runner and drives the outer of runner
On circle, it is brought into close contact with described driven runner and driving runner；Described lift servo motor is located at the interior of described shell
The portion lower right corner, is fixedly connected with described shell, through the lower surface of described shell, fixes and connects with described driving runner
Connect；Described driving runner is located at the lower section of described lift servo motor, while positioned at the lower section of described shell, position with
Described lift servo motor is corresponding.
6. a kind of rapid starting/stopping manipulator as claimed in claim 1, it is characterised in that described transverse arm component include crossbeam,
Left support, intermediate supports, right support and gripper；Described crossbeam be located at lifting assembly top, with described lifting
Component is fixedly connected；Described left support is located at the left position of described crossbeam, is fixedly connected with described crossbeam；Described
Intermediate supports be located at crossbeam centre position, be fixedly connected with described crossbeam；Described right support is located at described horizontal stroke
The right-hand member of beam, is fixedly connected with described crossbeam；Described gripper is located at described left support, intermediate supports and right support
Lower section, is fixedly connected with described left support, intermediate supports and right support.
7. a kind of rapid starting/stopping manipulator as claimed in claim 6, it is characterised in that described gripper has four, two
Two is symmetrical, in the lower section of described intermediate supports, the gripper described in Relative distribution two, respectively with described left support
It is symmetrical with gripper below right support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720243044.6U CN206588946U (en) | 2017-03-14 | 2017-03-14 | A kind of rapid starting/stopping manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720243044.6U CN206588946U (en) | 2017-03-14 | 2017-03-14 | A kind of rapid starting/stopping manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206588946U true CN206588946U (en) | 2017-10-27 |
Family
ID=60124083
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720243044.6U Expired - Fee Related CN206588946U (en) | 2017-03-14 | 2017-03-14 | A kind of rapid starting/stopping manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206588946U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625619A (en) * | 2017-03-14 | 2017-05-10 | 苏州聚晶科技有限公司 | Mechanical arm capable of being rapidly started and stopped |
-
2017
- 2017-03-14 CN CN201720243044.6U patent/CN206588946U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625619A (en) * | 2017-03-14 | 2017-05-10 | 苏州聚晶科技有限公司 | Mechanical arm capable of being rapidly started and stopped |
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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 |
Granted publication date: 20171027 |
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| CF01 | Termination of patent right due to non-payment of annual fee |