CN206633008U - A kind of cantilevered truss manipulator - Google Patents
A kind of cantilevered truss manipulator Download PDFInfo
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- CN206633008U CN206633008U CN201720132695.8U CN201720132695U CN206633008U CN 206633008 U CN206633008 U CN 206633008U CN 201720132695 U CN201720132695 U CN 201720132695U CN 206633008 U CN206633008 U CN 206633008U
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- axis
- cantilevered
- translation mechanism
- line slideway
- screw
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Abstract
The utility model discloses a kind of cantilevered truss manipulator, including cantilevered framework, translation mechanism, elevating mechanism and control system, the translation mechanism and elevating mechanism are installed in cantilevered framework upper, translation mechanism includes X-axis translation mechanism and Y-axis translation mechanism, X-axis translation mechanism includes X-axis body, X-axis motor, X-axis ball-screw and X-axis line slideway, Y-axis translation mechanism includes Y-axis body, y-axis motor, Y-axis ball-screw and Y-axis line slideway, and elevating mechanism includes Z axis body, Z axis motor, Z axis ball-screw and Z axis line slideway.The device is easy to use, around can need to only being carried out by control system to device and moves up and down, weight capacity is strong, the device uses servomotor, high-precision line slideway and high precision ball leading screw, registration, the device are provided with I/O interfaces, convenient connection；Device layout meets Human Engineering Principle, and circuit is clean and tidy, attractive appearance, and using effect is good.
Description
Technical field
A kind of manipulator is the utility model is related to, specifically a kind of cantilevered truss manipulator.
Background technology
Industry refers to collection raw material-pretreatment, and they is processed into work and the process of product.Industry is the weight of secondary industry
Part, and the mainstay of the national economy are wanted, industry is divided into light industry and the major class of heavy industry two.The bulky work of unit of the product
Industry department is exactly heavy industry, just category light industry in light weight.Belonging to the industrial department of heavy industry has steel and iron industry, nonferrous metallurgy work
Industry, metal material industry and mechanical industry etc..With the development of science and technology and the popularization of industrial scale production, people have developed
Manipulator helps people to work, and manipulator is a kind of high-tech automatic producing device that recent decades grow up, operation
The ability to be fulfiled assignment in accuracy and environment, manipulator and the maximum difference of arm for having the mankind are that flexibility ratio and endurance
Degree, that is to say, that the sharpest edges of manipulator be it is recursive do same action, machinery always will not under normal circumstances
Feel tired.Truss manipulator is one kind of manipulator, but the walking precision of existing truss manipulator does not reach wanting for people
Ask, layout structure is unreasonable, and this just brings inconvenience for the use of people.
Utility model content
The purpose of this utility model is to provide a kind of cantilevered truss manipulator, to solve to propose in above-mentioned background technology
The problem of.
To achieve the above object, the utility model provides following technical scheme：
A kind of cantilevered truss manipulator, including cantilevered framework, translation mechanism, elevating mechanism and control system, it is described
Cantilevered framework is arranged on ground, and control system is located at the side of cantilevered framework and cantilevered framework and control system
Distance is not zero, and translation mechanism and elevating mechanism are installed in cantilevered framework upper, translation mechanism include X-axis translation mechanism and
Y-axis translation mechanism and elevating mechanism, X-axis translation mechanism and Y-axis translation mechanism are mutually perpendicular to two-by-two, and X-axis translation mechanism includes X
Shaft body, X-axis motor, X-axis ball-screw and X-axis line slideway, Y-axis translation mechanism include Y-axis body, y-axis motor, Y-axis rolling
Ballscrew and Y-axis line slideway, X-axis body are arranged on the upper end of cantilevered framework, and X-axis line slideway is arranged on X-axis body
And X-axis ball screw is arranged among X-axis line slideway, X-axis motor is arranged on one end of X-axis body, and Y-axis body slides peace
On X-axis line slideway, Y-axis line slideway and Y-axis ball-screw is installed on Y-axis body and y-axis motor is arranged on Y
The bottom of shaft body, elevating mechanism include Z axis body, Z axis motor, Z axis ball-screw and Z axis line slideway, and Z axis body slides
On Y-axis line slideway and Z axis ball-screw and Z axis line slideway are installed on Z axis body, the installation of Z axis motor
On the top of Z axis body, translation mechanism and elevating mechanism electrically connect with control system.
As further program of the utility model：Cantilevered framework using annealing stainless steel material make and
Cantilevered framework surface is provided with the skin of paint for antirust.
As further program of the utility model：X-axis motor, y-axis motor and Z axis motor use servomotor.
As further program of the utility model：Control system includes electrical control cabinet, warning device and hand-held teaching
Device.
As further program of the utility model：Warning device includes alarm lamp and buzzer siren, electrical control cabinet
Using touching display screen, power-off anti-trip dropping control device is provided with elevating mechanism.
Compared with prior art, the beneficial effects of the utility model are：The device is reasonable in design, simple in construction, fault rate
It is low, safety in utilization and good operation stability；The device is easy to use, device need to can only be carried out by control system
Around and move up and down, weight capacity is strong, and the device uses servomotor, high-precision line slideway and high precision ball
Leading screw, registration, the device are provided with I/O interfaces, convenient connection；Device layout meets Human Engineering Principle, circuit
Neatly, attractive appearance, using effect are good.
Brief description of the drawings
Fig. 1 is the stereogram of cantilevered truss manipulator.
Fig. 2 is the side view of cantilevered truss manipulator.
Fig. 3 is the front view of cantilevered truss manipulator.
Fig. 4 is the top view of cantilevered truss manipulator.
Wherein：1- cantilevered frameworks, 2-X spindle motors, 3-Y spindle motors, 4-Z spindle motors, 5-X axle ball-screws, the rolling of 6-Z axles
Ballscrew, 7-X axle line slideways, 8-Y axle line slideways, 9-Z axle line slideways, 10-X shaft bodies, 11-Y shaft bodies, 12-Z axles
Body, 13- control systems, 14- Y-axis ball-screws.
Embodiment
The technical scheme of this patent is described in more detail with reference to embodiment.
Refer to Fig. 1-4, a kind of cantilevered truss manipulator, including cantilevered framework 1, translation mechanism, elevating mechanism and
Control system 13, the cantilevered framework 1 are installed on the ground, and control system 13 is located at the side of cantilevered framework 1 and hanged
Arm-type framework 1 and the distance of control system 13 are not zero, and translation mechanism and elevating mechanism are installed in the top of cantilevered framework 1,
Translation mechanism includes X-axis translation mechanism and Y-axis translation mechanism and elevating mechanism, X-axis translation mechanism and Y-axis translation mechanism two-by-two
It is mutually perpendicular to, X-axis translation mechanism includes X-axis body 10, X-axis motor 2, X-axis ball-screw 5 and X-axis line slideway 7, Y-axis translation
Mechanism includes Y-axis body 11, y-axis motor 3, Y-axis ball-screw 14 and Y-axis line slideway 8, and X-axis body 10 is arranged on cantilevered
The upper end of framework 1, X-axis line slideway 7 is arranged on X-axis body 10 and X-axis ball screw 5 is arranged in X-axis line slideway 7
Between, X-axis motor 2 is arranged on one end of X-axis body 10, and Y-axis body 11 is slidably mounted on X-axis line slideway 7, and Y-axis straight line is led
Rail 8 and Y-axis ball-screw 14 are installed on Y-axis body 11 and y-axis motor 3 is arranged on the bottom of Y-axis body 11, lift
Structure includes Z axis body 12, Z axis motor 4, Z axis ball-screw 6 and Z axis line slideway 9, and it is straight that Z axis body 12 is slidably mounted on Y-axis
On line guide rail 8 and Z axis ball-screw 6 and Z axis line slideway 9 are installed on Z axis body 12, and Z axis motor 4 is arranged on Z axis
The top of body 12, translation mechanism and elevating mechanism electrically connect with control system 13.Cantilevered framework 1 is using annealing
Stainless steel material making and the surface of cantilevered framework 1 are provided with the skin of paint for antirust.X-axis motor 2, y-axis motor 3 and Z
Spindle motor 4 uses servomotor.Control system 13 includes electrical control cabinet, warning device and hand-held teaching machine.Warning device
Including alarm lamp and buzzer siren, electrical control cabinet uses touching display screen, and power-off anti-trip is provided with elevating mechanism and falls dress
Put.
Operation principle of the present utility model is：The device X-direction stroke is 2m, and Y-axis and Z-direction stroke are
1m, the height of cantilevered framework 1 is more than 2 meters, and elevating mechanism drives Z axis ball-screw 6 using Z axis motor 4, completes workpiece
Lifting action, elevating mechanism have the power-off anti-trip dropping control device such as band-type brake；Translation mechanism is driven using servomotor so as to complete machine
Tool hand moving horizontally and moving forward and backward, and translation mechanism uses high-precision line slideway, and Feed servo system uses high precision ball
Leading screw is realized and is accurately positioned.Cantilevered framework 1 is used to support whole motion and made using stainless steel material, is easy to remove
Fortune and installation, cantilevered framework 1 are installed on ground using chemical anchor bolts, and surface is handled using paint, and color is specified by client.Control
System 13 processed is closed-loop type, and whole mechanism realization action and position are controlled, it is desirable to realizes three-shaft linkage, can control five axles fortune
It is dynamic, and each shaft position can be positioned in real time, Profibus field bus communications can be used, while configure I/O interfaces, wherein digital quantity
I/O interfaces enter 10 no less than 10 and gone out, and analog quantity I/O interfaces enter 2 no less than 2 and gone out, and electrical control cabinet is shown using Siemens's touch-control
Screen, for display control other relevant devices, hand-held teaching machine can be with convenient for people to use.The driver of servomotor uses
Absolute value type encoder.The layout of the device meets ergonomics, drag chain, circuit etc. neatly, and overall appearance is graceful.
It is obvious to a person skilled in the art that the utility model is not limited to the details of above-mentioned one exemplary embodiment, and
And in the case of without departing substantially from spirit or essential attributes of the present utility model, it can realize that this practicality is new in other specific forms
Type.Therefore, no matter from the point of view of which point, embodiment all should be regarded as exemplary, and is nonrestrictive, this practicality is new
The scope of type limits by appended claims rather than described above, it is intended that the equivalency fallen in claim is contained
All changes in justice and scope are included in the utility model.Any reference in claim should not be considered as limitation
Involved claim.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It is appreciated that other embodiment.
Claims (5)
1. a kind of cantilevered truss manipulator, it is characterised in that including cantilevered framework, translation mechanism, elevating mechanism and control
System, the cantilevered framework are arranged on ground, control system be located at the side of cantilevered framework and cantilevered framework and
The distance of control system is not zero, and translation mechanism and elevating mechanism are installed in cantilevered framework upper, and translation mechanism includes X-axis
Translation mechanism and Y-axis translation mechanism and elevating mechanism, X-axis translation mechanism and Y-axis translation mechanism are mutually perpendicular to two-by-two, and X-axis is put down
Telephone-moving structure includes X-axis body, X-axis motor, X-axis ball-screw and X-axis line slideway, and Y-axis translation mechanism includes Y-axis body, Y-axis
Motor, Y-axis ball-screw and Y-axis line slideway, X-axis body are arranged on the upper end of cantilevered framework, and X-axis line slideway is arranged on
On X-axis body and X-axis ball screw is arranged among X-axis line slideway, and X-axis motor is arranged on one end of X-axis body, Y-axis
Body is slidably mounted on X-axis line slideway, Y-axis line slideway and Y-axis ball-screw is installed on Y-axis body and Y-axis
Motor is arranged on the bottom of Y-axis body, and elevating mechanism includes Z axis body, Z axis motor, Z axis ball-screw and Z axis line slideway,
Z axis body is slidably mounted on Y-axis line slideway and Z axis ball-screw and Z axis line slideway are installed on Z axis body, Z
Spindle motor is arranged on the top of Z axis body, and translation mechanism and elevating mechanism electrically connect with control system.
2. cantilevered truss manipulator according to claim 1, it is characterised in that the cantilevered framework is using at annealing
The stainless steel material making of reason and cantilevered framework surface are provided with the skin of paint for antirust.
3. cantilevered truss manipulator according to claim 1 or 2, it is characterised in that the X-axis motor, y-axis motor and
Z axis motor uses servomotor.
4. cantilevered truss manipulator according to claim 1, it is characterised in that the control system includes electrical control
Cabinet, warning device and hand-held teaching machine.
5. cantilevered truss manipulator according to claim 4, it is characterised in that the warning device include alarm lamp and
Buzzer siren, electrical control cabinet use touching display screen, power-off anti-trip dropping control device are provided with elevating mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720132695.8U CN206633008U (en) | 2017-02-14 | 2017-02-14 | A kind of cantilevered truss manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720132695.8U CN206633008U (en) | 2017-02-14 | 2017-02-14 | A kind of cantilevered truss manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206633008U true CN206633008U (en) | 2017-11-14 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720132695.8U Expired - Fee Related CN206633008U (en) | 2017-02-14 | 2017-02-14 | A kind of cantilevered truss manipulator |
Country Status (1)
| Country | Link |
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| CN (1) | CN206633008U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108705533A (en) * | 2018-05-16 | 2018-10-26 | 塞伯睿机器人技术（长沙）有限公司 | The automatic cut-off protection maintaining method of industrial robot and the industrial robot for realizing this method |
| CN110039531A (en) * | 2019-03-28 | 2019-07-23 | 滁州瑞祥智能科技有限公司 | A kind of Full-automatic machine manipulator suitable for annealing furnace production line |
| CN110053030A (en) * | 2019-05-28 | 2019-07-26 | 上海安杰环保科技股份有限公司 | A kind of permanganate index analyzer quick high accuracy automation sample traversing taking device |
| CN110405391A (en) * | 2019-07-12 | 2019-11-05 | 川崎机器人(昆山)有限公司 | A kind of cantilevered harness cable electric welding manipulator |
| CN110861067A (en) * | 2018-08-28 | 2020-03-06 | 沈阳新松机器人自动化股份有限公司 | Modularization truss robot |
| CN111438679A (en) * | 2020-02-26 | 2020-07-24 | 中创智造(苏州)智能装备科技有限公司 | Long-stroke heavy-load high-precision multi-angle truss series-parallel robot |
| CN112405506A (en) * | 2020-11-11 | 2021-02-26 | 深圳市鸿怡科技有限公司 | Industrial robot suitable for intelligent manufacturing workshop |
-
2017
- 2017-02-14 CN CN201720132695.8U patent/CN206633008U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108705533A (en) * | 2018-05-16 | 2018-10-26 | 塞伯睿机器人技术（长沙）有限公司 | The automatic cut-off protection maintaining method of industrial robot and the industrial robot for realizing this method |
| CN110861067A (en) * | 2018-08-28 | 2020-03-06 | 沈阳新松机器人自动化股份有限公司 | Modularization truss robot |
| CN110039531A (en) * | 2019-03-28 | 2019-07-23 | 滁州瑞祥智能科技有限公司 | A kind of Full-automatic machine manipulator suitable for annealing furnace production line |
| CN110053030A (en) * | 2019-05-28 | 2019-07-26 | 上海安杰环保科技股份有限公司 | A kind of permanganate index analyzer quick high accuracy automation sample traversing taking device |
| CN110405391A (en) * | 2019-07-12 | 2019-11-05 | 川崎机器人(昆山)有限公司 | A kind of cantilevered harness cable electric welding manipulator |
| CN111438679A (en) * | 2020-02-26 | 2020-07-24 | 中创智造(苏州)智能装备科技有限公司 | Long-stroke heavy-load high-precision multi-angle truss series-parallel robot |
| CN112405506A (en) * | 2020-11-11 | 2021-02-26 | 深圳市鸿怡科技有限公司 | Industrial robot suitable for intelligent manufacturing workshop |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20171106 Address after: 210000 Jiangning economic and Technological Development Zone, Jiangsu, Ma Pu street, No. 6, No. Patentee after: NANJING LUOFU AUTOMATION TECHNOLOGY CO.,LTD. Address before: Jiangning District of Nanjing City, Jiangsu province 210000 Hengxi Street Community Hengxi Peach Road Patentee before: NANJING HONGFENG AUTOMATION TECHNOLOGY Co.,Ltd. |
|
| 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: 20171114 Termination date: 20220214 |