CN207127872U - A kind of automatic braking type truss manipulator - Google Patents
A kind of automatic braking type truss manipulator Download PDFInfo
- Publication number
- CN207127872U CN207127872U CN201720375694.6U CN201720375694U CN207127872U CN 207127872 U CN207127872 U CN 207127872U CN 201720375694 U CN201720375694 U CN 201720375694U CN 207127872 U CN207127872 U CN 207127872U
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- axles
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- timing belt
- axle
- pedestal
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 34
- 238000003825 pressing Methods 0.000 claims abstract description 20
- 230000005611 electricity Effects 0.000 claims abstract description 7
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 5
- 239000010959 steel Substances 0.000 claims abstract description 5
- 238000009434 installation Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
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Abstract
The present apparatus belongs to automated manufacturing mounting technology field, there is provided a kind of automatic braking type truss manipulator, column；X-axis；Y-axis；Z axis；Z1 shaft pulley；Z1 axles；3Z2 axles；Z2 shaft brake devices；Guide rail slide block；Z2 axle timing belts B；Z2 axle timing belts A；Z axis belt wheel；Z1 shaft brake devices；Pedestal；Z1 axle timing belts；Timing belt pressing plate；Z2 axle timing belt pressing plates；Brake；Keep plate；Steel wire；Electric wire.The lightweight of safety and equipment in production process, electricity loss brake is installed in the secondary part of truss manipulator, and drive part is connected with secondary part by special timing belt, when the situation of timing belt fracture occurs, secondary part can Braking mode, prevent the generation of security incident and the damage of parts.The function of telescopic manipulator Braking mode at an arbitrary position, serves the effectiveness of security protection, can ensure the safety of personnel and equipment in actual production, avoid security incident and economic loss.
Description
Technical field
The invention belongs to automated manufacturing mounting technology field, is related to mechanical handing dress involved in processing and manufacturing
Put.
Background technology
At present, the braking of each axle of truss manipulator used in the manufacturing is the brake by motor,
Namely secondary part is without independent brake, and the driving of truss manipulator is to be connected by timing belt with driven member, works as use
During, due to ageing equipment or load is overweight cause the timing belt to be broken when, secondary part brakeless device, cause under weight
Fall, easily cause security incident.
The content of the invention
In order to ensure the lightweight of safety and equipment in production process, install and lose in the secondary part of truss manipulator
Electric brake, and be connected drive part with secondary part by special timing belt, when the situation of timing belt fracture occurs,
Secondary part can Braking mode, prevent the generation of security incident and the damage of parts.
The present invention concrete technical scheme be：A kind of automatic braking type truss manipulator, column, which is located at below X-axis, passes through spiral shell
Nail connection, for supporting whole manipulator；X-axis is installed on column, and is connected by guide rail slide block with Y-axis, is pacified in X-axis
Equipped with rack；Y-axis is arranged in X-axis by guide rail slide block, is nibbled in Y-axis equipped with rack of the drive device with moving gear and X-axis
Crossed belt moves Y-axis movement；Z axis is arranged in Y-axis by guide rail slide block, drives Z axis to move by timing belt；Pedestal is the base of Z axis
Seat, it is arranged on by guide rail slide block on Y axles, Z1 axles are arranged on pedestal side by guide rail slide block；Z2 axles are pacified by guide rail slide block
Mounted in Z1 axles side；Z axis belt wheel is arranged in the middle part of pedestal by axle；Z1 shaft brake devices are arranged on pedestal side by screw；
Z1 shaft pulley is arranged on Z1 axle upper and lower ends by axle；Z1 axle timing belts are open loop timing belts, through the driving pulley on pedestal
And Z axis belt wheel both ends are fixed on two sides above and below Z1 axles by timing belt pressing plate, Z1 axles timing belt pulls Z1 axles to move up and down；Z2
Axle timing belt B is arranged on pedestal downside, Z2 by lower end Z1 shaft pulley A, Z2 axle timing belt B one end by timing belt pressing plate
The axle timing belt B other ends are arranged on Z2 axles side by Z2 axle timing belts pressing plate；Z2 axle timing belt A by upper end Z1 shaft pulley,
Z2 axles timing belt A one end is arranged on pedestal upper side by timing belt pressing plate, and the Z2 axles timing belt A other ends pass through Z2 axle timing belts
Pressing plate is arranged on Z2 axles side；Z2 shaft brake devices are arranged on Z2 axles side by screw；Brake is arranged on affixed side；Braking
Plate is arranged on mobile side；Timing belt adds electric wire by steel reinforcement in timing belt.
Wherein, two columns are separately mounted to both ends, and X-axis is installed on column, guide rail slide block and rack, Y are installed above X-axis
Axle one end installs drive device and the position is arranged on the sliding block of X-axis, and Y-axis can be slided in X-axis, the drive device of Y-axis
It can engage and be driven with the rack in X-axis with moving gear, same installation guide rail slide block, Z axis pedestal are arranged on Y-axis above Y-axis
Sliding block on, pedestal can be driven by drive device and be slided in Y-axis, and a side of Z1 axles is arranged on pedestal by guide rail slide block
Side, perpendicular to Y-axis, Z2 axles are arranged on another side of Z1 axles by guide rail slide block, and Z1 axles pass through on timing belt and pedestal
Drive device connection driving, the timing belts of Z2 axles bypass mounted in Z1 axles two belt wheels up and down finally installed in pedestal up and down
On two sides and timing belt by timing belt pressing plate is pressed on Z2 axles side, by driving the timing belt of Z1 axles to make
Z2 axles move relative to Z1 axles, are stretched so as to form two level, i.e. the distance of Z1 axles opposite base movement moves with Z2 axles relative to Z1 axles
Distance it is identical, the distance of final Z2 axles opposite base movement is two times of Z1 axles, so as to which a driving drives two axles, and two
Electric wire one end in bar timing belt is ined succession power supply, and the other end is ined succession the electricity loss brake of Z1 axles and Z2 axles respectively, when timing belt breaks
Split, respective electricity loss brake is just braked, so as to complete the function of Braking mode.
The present invention realizes the function of telescopic manipulator Braking mode at an arbitrary position, serves the effect of security protection
With can ensure the safety of personnel and equipment in actual production, avoid security incident and economic loss.
Brief description of the drawings
The automatic braking type truss manipulator overall structure figure of accompanying drawing 1.
The Z axis overall structure figure of accompanying drawing 2.
The brake device structure figure of accompanying drawing 3.
The timing belt structure chart of accompanying drawing 4.
In figure：PILLAR columns；ARMX X-axis；ARMY Y-axis；ARMZ Z axis；1 Z1 shaft pulley；2 Z1 axles；3 Z2 axles；
4 Z2 shaft brake devices；5 guide rail slide blocks；6 Z2 axle timing belts B；7 Z2 axle timing belts A；8 Z axis belt wheels；9 Z1 axles braking dress
Put；10 pedestals；11 Z1 axle timing belts；12 timing belt pressing plates；13 Z2 axle timing belt pressing plates；14 brakes；15 keep plates；16
Steel wire；17 electric wires.
Embodiment
Describe the embodiment of the present invention in detail below in conjunction with technical scheme and accompanying drawing.
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 is the overall composition of the present invention.
Fig. 2 is Z axis overall structure figure.
Fig. 3 is brake device structure figure.
Fig. 4 is timing belt cross-sectional structure figure.
In figure：Column PILLAR is used to support whole manipulator, and it, which is located at below X-axis ARMX, is connected by screw,；X-axis
ARMX is arranged on column PILLAR, and is connected by guide rail slide block with Y-axis ARMY, and rack is provided with X-axis ARMX；Y-axis
ARMY is arranged on X-axis ARMX by guide rail slide block, and tooth of the drive device with moving gear Yu X-axis ARMX is housed on Y-axis ARMY
Bar engagement drives Y-axis ARMY movements；Z axis ARMZ is arranged on Y-axis ARMY by guide rail slide block, and Z axis is driven by timing belt
ARMZ is moved；Pedestal 10 is Z axis ARMZ pedestal, is arranged on by guide rail slide block on Y-axis ARMY, a side of Z1 axles 2 leads to
Cross guide rail slide block 5 and be arranged on the side of pedestal 10；Z2 axles 3 are arranged on another side of Z1 axles 2 by guide rail slide block 5；Z axis belt wheel
8 are arranged on the middle part of pedestal 10 by axle；Z1 shaft brake devices 9 are arranged on the side of pedestal 10 by screw；Z1 shaft pulley 1 passes through axle
Installed in the upper and lower ends of Z1 axles 2；Z1 axles timing belt 11 is open loop timing belt, through the driving pulley on pedestal 10 and Z axis belt wheel 8
Both ends by timing belt pressing plate 12 are fixed on Z1 axles, and about 2 two sides, and Z1 axles timing belt 11 can pull Z1 axles 2 to move up and down；Z2
Axle timing belt B 6 is arranged on the downside of pedestal 10, the other end by lower end Z1 shaft pulley A 7, one end by timing belt pressing plate 12
The side of Z2 axles 3 is arranged on by Z2 axle timing belts pressing plate 13；By upper end Z1 shaft pulley 1, one end passes through same Z2 axle timing belts A 7
Step band pressing plate 12 is arranged on the upper side of pedestal 10, and the other end is arranged on the side of Z2 axles 3 by Z2 axle timing belts pressing plate 13；Z2 axle systems
Dynamic device 4 is arranged on the side of Z2 axles 3 by screw.
Wherein, brake 14 is arranged on and is relatively fixed side；Keep plate 15 is arranged on mobile side.
Wherein, timing belt is reinforced by many steel wires 16, and electric wire 17 is added in wherein timing belt, so if synchronous
Band fracture, electric wire 17 can be also broken therewith.Z axis ARMZ is that two level is stretched, and drives Z1 axles 2 to move up and down by a drive device
Z2 axles 3 can be made driven and Z2 axles 3 are identical with the distance that the opposite base 10 of Z1 axles 2 moves relative to the distance that Z1 axles 2 move.
Above-mentioned fixed installation is by screw or bolt connection.
The both ends of electric wire 17 in timing belt, one end connection power supply, other end connection Z1 shaft brake devices 9 or Z2 axle systems
Dynamic device 4, when timing belt fracture Z1 shaft brake devices (9) or the braking of the dead electricity of Z2 shaft brake devices 4, Z1 axles 2 and Z2 axles 3 stop moving
Make, complete Braking mode.
By the Machine Design of truss manipulator, X-axis ARMX is translatable, Y-axis ARMY is translatable, Z axis ARMZ can upper and lower two
Level is flexible, because Z axis ARMZ is flexible up and down and is driven by timing belt, if to produce safety hidden for timing belt fracture
Suffer from, and the structure of the present invention, secondary part and drive part are one end of electric wire 17 in timing belt by special synchronous band connection
Switch on power, other end connection Z1 shaft brake devices 9 and Z2 shaft brake devices 4, because the two brake apparatus are dead electricity systems
Dynamic, when timing belt is broken, electric wire 17 is broken, Z1 shaft brake devices 9 and the dead electricity of Z2 shaft brake devices 4, and brake 14 holds braking tightly
Plate 15 is braked, so that Z1 axles 2, the stopping of Z2 axles 3 action, complete Braking mode.
Claims (5)
1. a kind of automatic braking type truss manipulator, it is characterised in that column (PILLAR), which is located at below X-axis (ARMX), passes through spiral shell
Nail connection, for supporting whole manipulator；X-axis (ARMX) is installed on column (PILLAR), and passes through guide rail slide block and Y-axis
(ARMY) connect, rack is installed in X-axis (ARMX)；Y-axis (ARMY) is arranged in X-axis (ARMX) by guide rail slide block, in Y
Being engaged on axle (ARMY) equipped with drive device with moving gear with the rack of X-axis (ARMX) drives Y-axis (ARMY) mobile;Z axis
(ARMZ) it is arranged on by guide rail slide block in Y-axis (ARMY), drives Z axis (ARMZ) mobile by timing belt;Pedestal (10) is Z axis
(ARMZ) pedestal, it is arranged on by guide rail slide block in Y-axis (ARMY), Z1 axles (2) are arranged on pedestal by guide rail slide block (5)
(10) side；Z2 axles (3) are arranged on Z1 axles (2) side by guide rail slide block (5)；Z axis belt wheel (8) is arranged on pedestal by axle
(10) middle part；Z1 shaft brake devices (9) are arranged on pedestal (10) side by screw;Z1 shaft pulley (1) is arranged on Z1 by axle
Axle (2) upper and lower ends；Z1 axles timing belt (11) is open loop timing belt, through the driving pulley on pedestal (10) and Z axis belt wheel (8)
Both ends are fixed on Z1 axles (2) two sides up and down by timing belt pressing plate (12), and Z1 axles timing belt (11) pulls to be moved down on Z1 axles (2)
It is dynamic；Z2 axle timing belt B (6) pass through timing belt pressing plate by lower end Z2 axle timing belt A (7), Z2 axle timing belt B (6) one end
(12) pedestal (10) downside is arranged on, Z2 axle timing belt B (6) other ends are arranged on Z2 axles by Z2 axle timing belt pressing plates (13)
(3) side；Z2 axle timing belt A (7) are pacified by upper end Z1 shaft pulley (1), Z2 axles timing belt A one end by timing belt pressing plate (12)
Mounted in pedestal (10) upper side, the Z2 axles timing belt A other ends are arranged on Z2 axles (3) side by Z2 axle timing belt pressing plates (13)；
Z2 shaft brake devices (4) are arranged on Z2 axles (3) side by screw；Brake (14) is arranged on affixed side；Keep plate (15) is pacified
Mounted in mobile side；Timing belt is reinforced by steel wire (16), and electric wire (17) is added in timing belt.
2. a kind of automatic braking type truss manipulator according to claim 1, is further characterized in that, Z axis (ARMZ) is two
Level is flexible, and driving Z1 axles (2) to move up and down by a drive device can make that Z2 axles (3) are driven and Z2 axles (3) are with respect to Z1 axles
(2) mobile distance is identical with the distance that Z1 axles (2) opposite base (10) is mobile.
3. a kind of automatic braking type truss manipulator according to claim 1 or 2, is further characterized in that, in timing belt
The both ends of electric wire (17), one end connection power supply, other end connection Z1 shaft brake devices (9) or Z2 shaft brake devices (4), work as synchronization
Band fracture Z1 shaft brake devices (9) or Z2 shaft brake devices (4) dead electricity braking, Z1 axles (2) and Z2 axles (3) stopping action, are completed
Braking mode.
4. a kind of automatic braking type truss manipulator according to claim 1 or 2, is further characterized in that, above-mentioned fixed peace
Dress is by screw or bolt connection.
5. a kind of automatic braking type truss manipulator according to claim 3, is further characterized in that, above-mentioned fixed installation by
Screw or bolt connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720375694.6U CN207127872U (en) | 2017-04-11 | 2017-04-11 | A kind of automatic braking type truss manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720375694.6U CN207127872U (en) | 2017-04-11 | 2017-04-11 | A kind of automatic braking type truss manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207127872U true CN207127872U (en) | 2018-03-23 |
Family
ID=61630811
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720375694.6U Expired - Fee Related CN207127872U (en) | 2017-04-11 | 2017-04-11 | A kind of automatic braking type truss manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207127872U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107053139A (en) * | 2017-04-11 | 2017-08-18 | 沈阳翰和科技工程有限公司 | A kind of automatic braking type truss manipulator |
-
2017
- 2017-04-11 CN CN201720375694.6U patent/CN207127872U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107053139A (en) * | 2017-04-11 | 2017-08-18 | 沈阳翰和科技工程有限公司 | A kind of automatic braking type truss 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 |
Granted publication date: 20180323 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |