CN206703016U - Energy-saving and emission-reduction electric manipulator - Google Patents
Energy-saving and emission-reduction electric manipulator Download PDFInfo
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- CN206703016U CN206703016U CN201720443579.8U CN201720443579U CN206703016U CN 206703016 U CN206703016 U CN 206703016U CN 201720443579 U CN201720443579 U CN 201720443579U CN 206703016 U CN206703016 U CN 206703016U
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Abstract
A kind of energy-saving and emission-reduction electric manipulator, fixed seat, travelling carriage, L-shaped swing arm, pushing frame form a set of linkage for realizing that crawl section is movable, and, first montant frame, the first swing rod, not rounded drive link, the second swing rod, the second montant frame form a set of linkage realized crawl section and moved up and down, when electric control mechanism control L-shaped swing arm moves up and down around first axle rotation, the second montant frame, two linkages difference position transitions are controlled, so as to realize that crawl section regularly horizontal forward stretching or is retracted, moved up and down backward.Energy-saving and emission-reduction so as to greatly reduce energy consumption, need not be played a part of using parts such as cylinders.
Description
Technical field
It the utility model is related to a kind of energy-saving and emission-reduction electric manipulator.
Background technology
The use of robot is the industrialized important symbol of developed country, is constantly risen violently and robot cost in labor cost
Increasingly under the overall background declined, the development of robot and intelligence equipment industry is more and more by the extensive concern of various circles of society.And
Now in the industrial production, various manipulators, it would be desirable to be able to which automatic realize such as moves up and down, moved horizontally at all kinds of transfers, pin
To organisation of workings such as this all kinds of transfers, each part often makes a move using cylinder to realize.And for a product
Processing, having plenty of will be by multiple component combination together, thus needs multiple similar transfer organisation of workings, so as to complete
Into the combination of multiple parts.And each cylinder is required for independent gas control, automatically controlled facility, so as to cause the consuming of the energy compared with
Greatly.
Utility model content
The technical problems to be solved in the utility model is to provide a kind of energy-saving and emission-reduction electric manipulator.
In order to solve the above-mentioned technical problem, the technical solution adopted in the utility model is：A kind of energy-saving and emission-reduction motor machine
Hand, including pedestal, be fixedly installed on the pedestal fixed seat, be slideably positioned in the fixed seat along fore-and-aft direction
Travelling carriage, the anterior crawl section of the travelling carriage, in addition to pars intermedia and the fixed seat are slidably arranged in along above-below direction
The promotion that L-shaped swing arm, rearward end and the L-shaped swing arm upper end that rear portion is rotatablely connected around first axle are rotatablely connected around the second axle
Frame, be rotatably connected on the anterior not rounded drive link of the travelling carriage, one end is fixed on the first pendulum on the not rounded drive link
The first montant frame, the one end that the other end of bar, upper end and first swing rod is rotatablely connected can slide but forbid turning
What the other end of the second swing rod, bottom and second swing rod that are arranged on dynamicly on the not rounded drive link was rotatablely connected
Second montant frame, the leading section of the pushing frame are rotatablely connected with the travelling carriage by the 4th axle, the first montant frame
Bottom and the crawl section are rotatablely connected, the energy-saving and emission-reduction electric manipulator also include being used for controlling the L-shaped swing arm around
The electric control mechanism that first axle rotates, the second montant frame moves up and down, the electric control mechanism are arranged at the base
On frame.
In some embodiments, the electric control mechanism is included by the cam of motor control, respectively along upper and lower
To the first gear frame and the second gear frame being slideably positioned on the pedestal, it is fixed on the first of the first gear frame top
Bogie, the second bogie for being fixed on the second gear frame top, the bottom of first gear frame, second transmission
The bottom of frame is engaged conflict, first bogie and the other end of the L-shaped swing arm with the both sides of the cam respectively
Portion can rotate and can around the 3rd axle and slidably set, and the top of the second montant frame is connected with second bogie to be set
Put.
In some further embodiments, the both sides of the cam have first cam path of circle and second convex
Race, the bottom of first gear frame are provided with the first roller, and first roller is inserted in first cam path；Institute
The bottom for stating the second gear frame is provided with the second roller, and second roller is inserted in second cam path, and described first
Cam path and second cam path be not symmetrical.
In some further embodiments, the second montant frame includes bottom and the other end of second swing rod
Second montant body of portion's rotation connection, stretched out upwards by the second montant body and slide setting with second bogie
The second screw rod, the snubber elastomeric part that is arranged between second bogie and the second montant body, second spiral shell
The upper end of bar is provided with the second nut for preventing from being separated with second bogie.
In some embodiments, the first montant frame includes upper end and the other end rotation of first swing rod
First montant body of connection, the first screw rod extended downwardly from by the first montant body, it is slideably positioned in first spiral shell
The first adjustable side on bar, first adjustable side rotates with the crawl section to be connected, and spiral is set on first screw rod
There are two the first nuts, two the first nuts are pushed against the both sides of first adjustable side respectively.
In some embodiments, the pushing frame includes one end with the L-shaped swing arm upper end around second axle
The pushing frame body of rotation connection, the lead-screw forward extended out by the end of the pushing frame body, be slideably positioned in it is described
Promotion adjustable side on lead-screw, the promotion adjustable side is rotatablely connected with the travelling carriage around the 4th axle, described to push away
Spiral is connected with two promotion nuts on dynamic screw rod, and two promote the both sides that nut is pushed against the promotion adjustable side respectively.
The scope of the utility model, however it is not limited to the technical scheme that the particular combination of above-mentioned technical characteristic forms, while
The other technical schemes for being combined and being formed by above-mentioned technical characteristic or its equivalent feature should be covered.Such as features described above
With it is disclosed herein（But it is not limited to）The technical scheme that technical characteristic with similar functions is replaced mutually and formed
Deng.
Because above-mentioned technical proposal is used, the utility model has following advantages compared with prior art：Fixed seat, slip
Frame, L-shaped swing arm, pushing frame form a set of linkage for realizing that crawl section is movable, and, the first montant frame, the first pendulum
Bar, not rounded drive link, the second swing rod, the second montant frame form a set of linkage realized crawl section and moved up and down, when electronic
Controlling organization controls L-shaped swing arm to control two linkages to distinguish positions around when first axle rotates, the second montant frame moves up and down
Transformation is put, so as to realize that crawl section regularly horizontal forward stretching or is retracted, moved up and down backward.Need not be using portions such as cylinders
Part, so as to greatly reduce energy consumption, play a part of energy-saving and emission-reduction.
Brief description of the drawings
Accompanying drawing 1 is the schematic diagram that multiple the utility model electric manipulators are applied in intelligent production equipment；
Accompanying drawing 2 is the schematic perspective view of actuating unit；
Accompanying drawing 3 is single schematic diagram of the present utility model；
Accompanying drawing 4 is carrying mechanism schematic diagram one；
Accompanying drawing 5 is carrying mechanism schematic diagram two；
Wherein:1st, pedestal；2nd, actuating unit；21st, the first gear frame；22nd, the first bogie；23rd, the second gear frame；24、
Second bogie；241st, depression bar；25th, cam；26th, the second cam path；27th, guide pillar；3rd, carrying mechanism；30th, fixed seat；31st, it is sliding
Moving frame；32nd, L-shaped swing arm；33rd, pushing frame；331st, pushing frame body；332nd, lead-screw；333rd, adjustable side is promoted；334th, promote
Nut；34th, crawl section；35th, it is driven non-round；36th, the first swing rod；37th, the second swing rod；38th, the first montant frame；381st, first is perpendicular
Bar body；382nd, the first screw rod；383rd, the first adjustable side；384th, the first nut；39th, the second montant frame；391st, the second montant sheet
Body；392nd, the second screw rod；393rd, snubber elastomeric part；394th, the second nut.
Embodiment
As shown in Figure 4, a kind of energy-saving and emission-reduction electric manipulator, including pedestal 1, the fixation of fixed setting on the pedestal 1
Seat 30, the travelling carriage 31 that is slideably positioned in along fore-and-aft direction in fixed seat 30, along above-below direction it is slidably arranged in travelling carriage
L-shaped swing arm 32, rearward end and the L-shaped that 31 anterior crawl section 34, pars intermedia and the rear portions of fixed seat 30 are rotatablely connected around first axle
The pushing frame 33 that the upper end of swing arm 32 is rotatablely connected around the second axle, the leading section of pushing frame 33 are turned with travelling carriage 31 by the 4th axle
Dynamic connection, fixed seat, travelling carriage, L-shaped swing arm, pushing frame form linkage, when electric control mechanism control L-shaped swing arm is around the
When one axle rotates, pushing frame just can control travelling carriage is regularly horizontal forward to stretch out or retract backward.
As shown in Figure 5, energy-saving and emission-reduction electric manipulator, in addition to before its center line is rotatably connected on travelling carriage 31
Not rounded drive link 35, the one end in portion are fixed on the first swing rod 36, upper end and the first swing rod 36 on not rounded drive link 35
The first montant frame 38, the one end of the other end rotation connection can slide but forbid being rotatably arranged on not rounded drive link 35
The second swing rod 37, the second montant frame 39 for being rotatablely connected of the other end of bottom and the second swing rod 37, the first montant frame 38
Bottom be rotatablely connected with crawl section 34, the first montant frame 38, the first swing rod, not rounded drive link, the second swing rod, the second montant
Frame forms linkage.When second montant frame moves up and down, the second swing rod of control is swung up and down, and controls not rounded drive link around wherein
Heart rotation, the first swing rod is driven to swing up and down, so as to control the first montant frame 38 to move up and down, crawl section moves up and down.
Wherein, not rounded drive link 35 refers to that cross section is not round rod member, as cross section be triangle, square, pentagon,
Hexagon etc..Hole is provided with second swing rod 37, hole shape is engaged with its cross section, is rotated so as to slide but forbid.
Energy-saving and emission-reduction electric manipulator also includes being used to control L-shaped swing arm 32 around first axle rotation, the second montant frame 39
The electric control mechanism of lower movement, electric control mechanism are arranged on pedestal 1.
In the present embodiment, electric control mechanism includes the cam 25 by motor control, set respectively along above-below direction slip
The first gear frame 21 and the second gear frame 23 that are placed on pedestal 1, the first bogie 22 for being fixed on the top of the first gear frame 21,
It is fixed on second bogie 24 on the top of the second gear frame 23, the bottom of the first gear frame 21, the lower part of the second gear frame 23
Conflict is not engaged with the both sides of cam 25, the first bogie 22 and the other end of L-shaped swing arm 32 can turn around the 3rd axle
Dynamic and can is slidably set, and the top of the second montant frame 39 is connected setting with the second bogie 24.It is to pass through in the present embodiment
The both sides of same cam, two sets of linkages are controlled respectively, i.e., control the first bogie respectively, move down on the second bogie
It is dynamic, so as to control L-shaped swing arm, the corresponding actions of the second montant frame respectively.Not shown, electric control mechanism can also use two sets,
There is a cam respectively, individually control foregoing two sets of linkages, be separately controlled.
As shown in accompanying drawing 1,2, in the present embodiment, the both sides of cam 25 have first cam path of circle and second convex
Race 26, the bottom of the first gear frame 21 are provided with the first roller, and the first roller is inserted in the first cam path；Second gear frame
23 bottom is provided with the second roller, and the second roller is inserted in the second cam path 26, the first cam path and the second cam path 26
It is not symmetrical.Groove is engaged with roller, and coefficient of friction is small.
When second montant frame pulls down, crawl section moves down crawl material, if stroke design is bad, crawl section has
It may be collided with working face so that cam or crawl section damage, in order to avoid such case, preferably, second
Montant frame 39 includes the second montant body 391 of bottom and the other end rotation connection of the second swing rod 37, by the second montant
Body 391 stretches out and slides the second screw rod 392 set with the second bogie 24, is arranged at the second bogie 24 and second upwards
Snubber elastomeric part 393 between montant body 391, the upper end of the second screw rod 392 are provided with for preventing and the second bogie
24 the second nuts 394 being separated.Acted on when the second bogie is downward on snubber elastomeric part, snubber elastomeric part acts on
On two montant bodies, so that the second montant body has flexible buffer power when downward, so as to protect cam or crawl section.
Preferably, the first montant frame is a regulating rod, and the first montant frame 38 includes upper end and the first swing rod 36
The other end rotation connection the first montant body 381, the first screw rod 382, sliding for being extended downwardly from by the first montant body 381
Dynamic the first adjustable side 383 being arranged on the first screw rod 382, the first adjustable side 383 rotates with crawl section 34 to be connected, the first spiral shell
Spiral is provided with two the first nuts 384 on bar 382, and two the first nuts 384 are pushed against the two of the first adjustable side 383 respectively
Side.First montant frame is connected between the first swing rod and crawl section, and its first adjustable side is position-movable on the first screw rod,
Realize that length can finely tune, so as to make up the nonadjustable defect of cam dimension.
Not shown, the first montant frame similar to the second montant frame, can also be designed to the rod member of flexible buffer power, by upside
One nut is removed, and an elastic component is also provided between the first adjustable side and the first montant frame.
Preferably, pushing frame 33 is regulating rod, pushing frame 33 include one end and the upper end of L-shaped swing arm 32 around
The pushing frame body 331 of second axle rotation connection, the lead-screw 332 forward extended out by the end of pushing frame body 331, slide
The promotion adjustable side 333 being arranged on lead-screw 332, promote adjustable side 333 to be rotatablely connected with travelling carriage 31 around the 4th axle, push away
Spiral is connected with two promotion nuts 334 on dynamic screw rod 332, and two promote nut 334 to be pushed against promotion adjustable side 333 respectively
Both sides.Pushing frame is connected between L-shaped swing arm and travelling carriage, and it promotes adjustable side position-movable on lead-screw, real
Existing length can finely tune, so as to make up the nonadjustable defect of cam dimension.
During operation, before and after determining crawl section by two grooves of cam in the present embodiment, upper and lower displacement.Such as, Electronic control
When mechanism controls cam 25 rotates so that the first gear frame 21 moves up and down from 23 different width of the second gear frame, i.e., the first driving
Frame 22 moves up and down from 24 different width of the second bogie, so as to control the two of carrying mechanism 3 sets of linkages each to operate, control
The space of crawl section 34 is moved, and material is captured from feeding machanism as controlled crawl section 34 to stretch out, declining, be lifted up after catching,
Retreat, decline be put on processing stations again, then be lifted up resetting.Program operation rotates a lattice, and next processing stations are gone to
The lower section of carrying mechanism 3, next material is carried, with this repeatedly.
For above-described embodiment only to illustrate technical concepts and features of the present utility model, its object is to allow be familiar with technique
Personage can understand content of the present utility model and implement according to this, the scope of protection of the utility model can not be limited with this.
All equivalent change or modifications made according to the utility model Spirit Essence, should all cover the scope of protection of the utility model it
It is interior.
Claims (6)
1. a kind of energy-saving and emission-reduction electric manipulator, including pedestal（1）, be fixedly installed on the pedestal（1）On fixed seat（30）、
The fixed seat is slideably positioned in along fore-and-aft direction（30）On travelling carriage（31）, be slidably arranged in along above-below direction it is described
Travelling carriage（31）Anterior crawl section（34）, it is characterised in that：Also include pars intermedia and the fixed seat（30）Rear portion is around first
The L-shaped swing arm of axle rotation connection（32）, rearward end and the L-shaped swing arm（32）The pushing frame that upper end is rotatablely connected around the second axle
（33）, be rotatably connected on the travelling carriage（31）Anterior not rounded drive link（35）, one end be fixed on the not rounded drive link
（35）On the first swing rod（36）, upper end and first swing rod（36）The other end rotation connection the first montant frame
（38）, one end can slide but forbid being rotatably arranged at the not rounded drive link（35）On the second swing rod（37）, lower end
Portion and second swing rod（37）The other end rotation connection the second montant frame（39）, the pushing frame（33）Leading section
With the travelling carriage（31）It is rotatablely connected by the 4th axle, the first montant frame（38）Bottom and the crawl section（34）
Rotation connection, the energy-saving and emission-reduction electric manipulator also include being used to control the L-shaped swing arm（32）Rotated around first axle, be described
Second montant frame（39）The electric control mechanism moved up and down, the electric control mechanism are arranged at the pedestal（1）On.
2. energy-saving and emission-reduction electric manipulator according to claim 1, it is characterised in that：The electric control mechanism include by
The cam of motor control（25）, respectively along above-below direction be slideably positioned in the pedestal（1）On the first gear frame（21）With
Second gear frame（23）, be fixed on first gear frame（21）First bogie on top（22）, be fixed on it is described second pass
Moving frame（23）Second bogie on top（24）, first gear frame（21）Bottom, second gear frame（23）Under
Portion respectively with the cam（25）Both sides be engaged conflict, first bogie（22）With the L-shaped swing arm（32）'s
The other end can rotate and can around the 3rd axle and slidably set, the second montant frame（39）Top with described second driving
Frame（24）Be connected setting.
3. energy-saving and emission-reduction electric manipulator according to claim 2, it is characterised in that：The cam（25）Two side portions
First cam path of circle and the second cam path are not provided with（26）, first gear frame（21）Bottom be provided with the first rolling
Wheel, first roller are inserted in first cam path；Second gear frame（23）Bottom be provided with the second roller,
Second roller is inserted in second cam path（26）It is interior, first cam path and second cam path（26）It is not relative
Claim.
4. energy-saving and emission-reduction electric manipulator according to claim 2, it is characterised in that：The second montant frame（39）Including
Bottom and second swing rod（37）The other end rotation connection the second montant body（391）, by second montant
Body（391）Upwards stretch out and with second bogie（24）Slide the second screw rod set（392）, be arranged at described second
Bogie（24）With the second montant body（391）Between snubber elastomeric part（393）, second screw rod（392）It is upper
End set has for preventing and second bogie（24）The second nut being separated（394）.
5. energy-saving and emission-reduction electric manipulator according to claim 1, it is characterised in that：The first montant frame（38）Including
Upper end and first swing rod（36）The other end rotation connection the first montant body（381）, by first montant
Body（381）The first screw rod extended downwardly from（382）, be slideably positioned in first screw rod（382）On the first adjustable side
（383）, first adjustable side（383）With the crawl section（34）Rotate connection, first screw rod（382）Upper spiral is set
It is equipped with two the first nuts（384）, two the first nuts（384）First adjustable side is pushed against respectively（383）Both sides.
6. energy-saving and emission-reduction electric manipulator according to claim 1, it is characterised in that：The pushing frame（33）Including one end
Portion and the L-shaped swing arm（32）The pushing frame body that upper end is rotatablely connected around second axle（331）, by the pushing frame sheet
Body（331）The lead-screw that forward extends out of end（332）, be slideably positioned in the lead-screw（332）On promotion regulation
End（333）, the promotion adjustable side（333）With the travelling carriage（31）It is rotatablely connected around the 4th axle, the lead-screw
（332）Upper spiral is connected with two promotion nuts（334）, two promotion nuts（334）The promotion adjustable side is pushed against respectively
（333）Both sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720443579.8U CN206703016U (en) | 2017-04-25 | 2017-04-25 | Energy-saving and emission-reduction electric manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720443579.8U CN206703016U (en) | 2017-04-25 | 2017-04-25 | Energy-saving and emission-reduction electric manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206703016U true CN206703016U (en) | 2017-12-05 |
Family
ID=60457337
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720443579.8U Expired - Fee Related CN206703016U (en) | 2017-04-25 | 2017-04-25 | Energy-saving and emission-reduction electric manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206703016U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107009356A (en) * | 2017-04-25 | 2017-08-04 | 苏州中悦行自动化机械科技有限公司 | Energy-saving and emission-reduction electric manipulator |
-
2017
- 2017-04-25 CN CN201720443579.8U patent/CN206703016U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107009356A (en) * | 2017-04-25 | 2017-08-04 | 苏州中悦行自动化机械科技有限公司 | Energy-saving and emission-reduction electric manipulator |
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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: 20171205 |