CN206936933U - A kind of manipulator - Google Patents
A kind of manipulator Download PDFInfo
- Publication number
- CN206936933U CN206936933U CN201720448970.7U CN201720448970U CN206936933U CN 206936933 U CN206936933 U CN 206936933U CN 201720448970 U CN201720448970 U CN 201720448970U CN 206936933 U CN206936933 U CN 206936933U
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- CN
- China
- Prior art keywords
- sliding block
- matrix
- block
- drive
- screw rod
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The technical field of machining is the utility model is related to, refers in particular to a kind of manipulator, its first drive mechanism and the second drive mechanism for including base, being arranged on base；First slide includes the first sliding block and the first matrix, and the first sliding block is connected with drive lead screw, and drive end and the drive lead screw of servomotor are connected；Second slide includes the second sliding block and the second matrix, and the second sliding block is slidably connected with positioning screw rod, and the material fetching mechanism for gripping workpiece is provided with the second matrix；First matrix is connected by fix bar with the second matrix；On positioning screw rod row's formula be provided with several be used for position the second sliding block keeper, the arc groove for coordinating with keeper is provided with the second sliding block；Keeper includes locating convex block and spring, and locating convex block is connected by spring with positioning screw rod, and multiple location dimples for being used to coordinate with locating convex block are provided with arc groove.Balance of the present utility model is preferable.
Description
Technical field
The technical field of machining is the utility model is related to, refers in particular to a kind of manipulator.
Background technology
In mechanical processing process, feeding, feeding problem are quite important.How workpiece to be processed served into processing stations,
Or it is to improve work efficiency and crudy and the key of safety in production to be quickly and accurately sent to next station from a upper station.Extremely
The present, some machines still use artificial feeding, and some then uses conveyer belt, but the former efficiency is low, and labor intensity is big；The latter Ze Yin is passed
Sending band to need another standby spcific power easily to cause, feeding balance is poor, and stability is bad, and needs manipulator in multiple stations at present
On be operated, the positional accuracy of its position is not high to influence processing efficiency and accuracy.
Utility model content
The utility model provides a kind of manipulator for problem of the prior art.
In order to solve the above-mentioned technical problem, the utility model adopts the following technical scheme that：
A kind of manipulator provided by the utility model, the first drive mechanism for include base, being arranged on base and
Two drive mechanisms, first drive mechanism include the first pedestal, servomotor, drive lead screw and first slide, and described
Two drive mechanisms include the second pedestal, positioning screw rod and second slide；
The first slide includes the first sliding block and the first matrix, and first matrix is fixedly connected with the first sliding block,
First sliding block is connected with the drive lead screw, and drive end and the drive lead screw of the servomotor are connected；
The second slide includes the second sliding block and the second matrix, and second matrix is fixedly connected with the second sliding block,
Second sliding block is slidably connected with the positioning screw rod, and the reclaimer for gripping workpiece is provided with second matrix
Structure；First matrix is connected by fix bar with the second matrix；
On the positioning screw rod row's formula be provided with several be used for position the second sliding block keeper, second sliding block
On be provided with arc groove for coordinating with keeper；The keeper includes locating convex block and spring, the convex
Block is connected by spring with positioning screw rod, and it is recessed that multiple positioning for being used to coordinate with locating convex block are provided with the arc groove
Hole.
Wherein, the material fetching mechanism includes gland, and button block is provided with the gland, is set on second matrix
It is equipped with the catching groove for coordinating with button block, the button block and the catching groove clamping.
Wherein, the button block is L-shaped；The section of the catching groove is L-shaped.
Wherein, the first screw is provided with the button block, the second screw, second spiral shell are provided with second matrix
Hole is correspondingly arranged with the first screw.
Wherein, material fetching mechanism also includes material pawl, electric rotating machine, connecting plate and longitudinal cylinder, the drive of the electric rotating machine
Moved end is connected with driving wheel, and the driven pulley for coordinating with driving wheel is provided with the material pawl；
The electric rotating machine is arranged on connecting plate, and the drive end of the longitudinal cylinder is connected with connecting plate.
Wherein, the finger cylinder clamping jaw for gripping workpiece is provided with the material pawl.
The beneficial effects of the utility model：
A kind of manipulator provided by the utility model, during work, pass through servomotor and drive the cunning of drive lead screw first
Block is slided with the rotation of drive lead screw, and first matrix is connected by fix bar with the second matrix, when the first sliding block is slided
The second sliding block can be driven when dynamic also along positioning screw rod sliding block, wherein, keeper is provided with positioning screw rod, and the second sliding block is set
The arc groove for coordinating with keeper is equipped with, when the locating convex block of keeper reaches the position of location dimples, in spring
In the presence of, when locating convex block stretches into the location dimples of arc groove, the locating convex block positions the second sliding block, i.e., by feeding
Mechanism positioning is completed, and servomotor stops driving drive lead screw work, and the material fetching mechanism carries out corresponding requirement to workpiece and added
Work；When servomotor is again started up, the second sliding block movement, location dimples extrude locating convex block, spring-compressed, and locating convex block takes off
From location dimples, until when the next arrival of the second sliding block corresponds to station, locating convex block again blocks the second sliding block, ensures feeding
The position that mechanism reaches is accurate, i.e., positioning accuracy is high, ensures its machining precision；Wherein, the first sliding block by fix bar with
Second sliding block connects, and passes through the movement of the sliding block of mobile drive second of the first sliding block so that balance of the present utility model is preferable.
Brief description of the drawings
Fig. 1 is a kind of structural representation of manipulator of the present utility model.
Fig. 2 is the structural representation of the first drive mechanism of the present utility model and the second drive mechanism.
Fig. 3 is the structural representation of the second drive mechanism of the present utility model.
Fig. 4 is the structural representation of material fetching mechanism of the present utility model.
Fig. 5 is the structural representation of the second sliding block of the present utility model and the second matrix.
Fig. 6 is the sectional view that positioning screw rod of the present utility model and the second sliding block coordinate.
Fig. 7 is the structural representation coordinated between the second matrix of the present utility model, button block, Locking screw.
Reference in Fig. 1 to Fig. 7 includes：
The drive mechanism of the drive mechanism of 1-base 2-the first 3-the second
4-the first pedestal 5-servomotor, 6-drive lead screw
7-the second the 9-the first sliding block of 8-positioning screw rod of pedestal
10-the first matrix the 12-the second matrix of the 11-the second sliding block
13-material fetching mechanism, 14-fix bar, 15-keeper
16-arc groove, 17-locating convex block, 18-spring
19-location dimples, 20-gland, 21-button block
22-catching groove 23-the first, 24-screw head of screw
25-screw rod 26-fixation 27-fixed part of projection
28-locking part, 29-fixed groove 30-material pawl
31-electric rotating machine, 32-connecting plate, 33-longitudinal cylinder
34-driving wheel, 35-driven pulley, 36-finger cylinder clamping jaw.
Embodiment
For the ease of the understanding of those skilled in the art, the utility model is made with reference to embodiment and accompanying drawing further
Explanation, the content that embodiment refers to not to restriction of the present utility model.The utility model is entered below in conjunction with accompanying drawing 1-7
The detailed description of row.
A kind of manipulator described in the present embodiment, the first drive mechanism 2 for include base 1, being arranged on base 1 and
Two drive mechanisms 3, first drive mechanism 2 include the first pedestal 4, servomotor 5, drive lead screw 6 and first slide, institute
State the second drive mechanism 3 and include the second pedestal 7, positioning screw rod 8 and second slide；
The first slide includes the first sliding block 9 and the first matrix 10, and first matrix 10 is fixed with the first sliding block 9
Connection, first sliding block 9 are connected with the drive lead screw 6, and drive end and the drive lead screw 6 of the servomotor 5 pass
Dynamic connection；
The second slide includes the second sliding block 11 and the second matrix 12, and the sliding block 11 of the second matrix 12 and second is solid
Fixed connection, second sliding block 11 are slidably connected with the positioning screw rod 8, are provided with second matrix 12 for gripping work
The material fetching mechanism 13 of part；First matrix 10 is connected by fix bar 14 with the second matrix 12；
On the positioning screw rod 8 row's formula be provided with several be used for position the second sliding block 11 keeper 15, described the
The arc groove 16 for coordinating with keeper 15 is provided with two sliding blocks 11；The keeper 15 includes the He of locating convex block 17
Spring 18, the locating convex block 17 are connected by spring 18 with positioning screw rod 8, and multiple be used for is provided with the arc groove 16
The location dimples 19 coordinated with locating convex block 17.
Specifically, during work, the sliding block 9 of drive lead screw 6 first is driven with drive lead screw 6 by servomotor 5
Rotate and slide, first matrix 10 is connected by fix bar 14 with the second matrix 12, can be driven when the first sliding block 9 slides
Second sliding block 11 also along the sliding block of positioning screw rod 8, wherein, keeper 15 is provided with positioning screw rod 8, and the second sliding block 11 is set
There is the arc groove 16 for coordinating with keeper 15, when the locating convex block 17 of keeper 15 reaches the position of location dimples 19
When, in the presence of spring 18, when locating convex block 17 stretches into the location dimples 19 of arc groove 16, the locating convex block 17 is by
Two sliding blocks 11 position, i.e., material fetching mechanism 13 are positioned into completion, and servomotor 5 stops driving drive lead screw 6 to work, the reclaimer
Structure 13 carries out the processing of corresponding requirement to workpiece；When servomotor 5 is again started up, the second sliding block 11 moves, location dimples 19
Locating convex block 17 is extruded, spring 18 compresses, and locating convex block 17 departs from location dimples 19, until arrival next time of the second sliding block 11 is corresponding
During station, locating convex block 17 again blocks the second sliding block 11, ensures that the position that material fetching mechanism 13 reaches is accurate, i.e. accurate positioning
Property it is high, ensure its machining precision；Wherein, the first sliding block 9 is connected by fix bar 14 with the second sliding block 11, passes through the first sliding block
The movement of 9 the second sliding block of mobile drive 11 so that balance of the present utility model is preferable.
A kind of manipulator described in the present embodiment, the material fetching mechanism 13 include gland 20, in the gland 20
Be provided with button block 21, be provided with the catching groove 22 for coordinating with button block 21 on second matrix 12, the button block 21 with it is described
The clamping of catching groove 22.Specifically, by the cooperation of button block 21 and catching groove 22, the peace installation and dismantling of material fetching mechanism 13 can quickly be realized
Unload, when needing to install material fetching mechanism 13, button block 21 need to only be entered from one end of catching groove 22 along the length direction of catching groove 22
Catching groove 22, you can realize the installation of material fetching mechanism 13；When needing to dismantle material fetching mechanism 13, by button block 21 from one end of catching groove 22
Catching groove 22 is skidded off along the length direction of catching groove 22, you can is realized the dismounting of material fetching mechanism 13, is realized and take by simple structure
Expect the installation and removal of mechanism 13, be easy to use and safeguard.
A kind of manipulator described in the present embodiment, the button block 21 are L-shaped；The section of the catching groove 22 is L-shaped.Specifically
Ground, the button block 21 of L-shaped coordinate with the catching groove 22 of L-shaped, and its is simple in construction, reasonable in design, is easy to produce and manufactures.
A kind of manipulator described in the present embodiment, the first screw 23, second matrix 12 are provided with the button block 21
On be provided with the second screw, second screw is correspondingly arranged with the first screw 23.Specifically, second is passed through by Locking screw
Screw is connected with the first screw 23, realizes being stably connected with for gland 20 and the second matrix 12, at the same also allow for gland 20 with
The dismounting of second matrix 12；The Locking screw includes screw head 24 and screw rod 25, and fixed projection 26 is provided with the screw head 24,
Second screw includes fixed part 27 and locking part 28, and the bottom part ring of the fixed part 27, which is provided with, to be used for and fixed projection 26
The fixed groove 29 of cooperation, the inwall of the locking part 28 are provided with internal thread, when pressing Locking screw through the second screw and
During the first screw 23, when fixed projection 26 is caught in the fixed groove 29, represents that Locking screw installation is accurate, can prevent
Degree pressing Locking screw causes the second matrix 12 or button block 21 to damage.
A kind of manipulator described in the present embodiment, material fetching mechanism 13 also include material pawl 30, electric rotating machine 31, connecting plate 32
With longitudinal cylinder 33, the drive end of the electric rotating machine 31 is connected with driving wheel 34, is provided with and is used for and master on the material pawl 30
The driven pulley 35 that driving wheel 34 coordinates；The electric rotating machine 31 be arranged on connecting plate 32 on, the drive end of the longitudinal cylinder 33 with
Connecting plate 32 connects.Specifically, the longitudinal cylinder 33 can be movable with drive connection plate 32, and the electric rotating machine 31 drives
When drive driving wheel 34 rotate, and then drive driven pulley 35 rotate, that is, cause material pawl 30 realize rotate, be easy to expect pawl 30 grip work
Part, wherein, the driving wheel 34 can be connected by timing belt with driven pulley 35.
A kind of manipulator described in the present embodiment, the finger cylinder clamping jaw for gripping workpiece is provided with the material pawl 30
36.Specifically, workpiece is gripped by finger cylinder clamping jaw 36, ensures its job stability.
It is described above, only it is the utility model preferred embodiment, not the utility model is made any formal
Limitation, although the utility model is disclosed as above with preferred embodiment, but is not limited to the utility model, any to be familiar with sheet
Technical professional, do not departing from the range of technical solutions of the utility model, made when using the technology contents of the disclosure above
A little change or the equivalent embodiment for being modified to equivalent variations, as long as being without departing from the content of the technical scheme of the utility model, foundation
The utility model technology refers to any simple modification, equivalent change and modification made to above example, belongs to this practicality
In the range of new technique scheme.
Claims (6)
- A kind of 1. manipulator, it is characterised in that：The first drive mechanism and the second driving machine for include base, being arranged on base Structure, first drive mechanism include the first pedestal, servomotor, drive lead screw and first slide, second driving machine Structure includes the second pedestal, positioning screw rod and second slide；The first slide includes the first sliding block and the first matrix, and first matrix is fixedly connected with the first sliding block, described First sliding block is connected with the drive lead screw, and drive end and the drive lead screw of the servomotor are connected；The second slide includes the second sliding block and the second matrix, and second matrix is fixedly connected with the second sliding block, described Second sliding block is slidably connected with the positioning screw rod, and the material fetching mechanism for gripping workpiece is provided with second matrix；Institute The first matrix is stated to be connected with the second matrix by fix bar；On the positioning screw rod row's formula be provided with several be used for position the second sliding block keeper, set on second sliding block It is equipped with the arc groove for coordinating with keeper；The keeper includes locating convex block and spring, and the locating convex block leads to Cross spring to be connected with positioning screw rod, multiple location dimples for being used to coordinate with locating convex block are provided with the arc groove.
- A kind of 2. manipulator according to claim 1, it is characterised in that：The material fetching mechanism includes gland, described solid Determine to be provided with button block on head, the catching groove for coordinating with button block, the button block and the catching groove are provided with second matrix Clamping.
- A kind of 3. manipulator according to claim 2, it is characterised in that：The button block is L-shaped；The section of the catching groove is in L Shape.
- A kind of 4. manipulator according to claim 2, it is characterised in that：It is provided with the first screw in the button block, described The second screw is provided with two matrixs, second screw is correspondingly arranged with the first screw.
- A kind of 5. manipulator according to claim 1, it is characterised in that：Material fetching mechanism also includes material pawl, electric rotating machine, company Fishplate bar and longitudinal cylinder, the drive end of the electric rotating machine are connected with driving wheel, are provided with and are used for and driving wheel on the material pawl The driven pulley of cooperation；The electric rotating machine is arranged on connecting plate, and the drive end of the longitudinal cylinder is connected with connecting plate.
- A kind of 6. manipulator according to claim 5, it is characterised in that：The hand for gripping workpiece is provided with the material pawl Refer to cylinder clamping jaw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720448970.7U CN206936933U (en) | 2017-04-26 | 2017-04-26 | A kind of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720448970.7U CN206936933U (en) | 2017-04-26 | 2017-04-26 | A kind of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206936933U true CN206936933U (en) | 2018-01-30 |
Family
ID=61359815
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720448970.7U Expired - Fee Related CN206936933U (en) | 2017-04-26 | 2017-04-26 | A kind of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206936933U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110282329A (en) * | 2019-07-04 | 2019-09-27 | 浙江大学昆山创新中心 | Horse transport mechanism applied to vacuum chamber |
-
2017
- 2017-04-26 CN CN201720448970.7U patent/CN206936933U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110282329A (en) * | 2019-07-04 | 2019-09-27 | 浙江大学昆山创新中心 | Horse transport mechanism applied to vacuum chamber |
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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: 20180130 Termination date: 20190426 |