CN207618651U - A kind of Three Degree Of Freedom electric drive stacking loading and unloading manipulator - Google Patents
A kind of Three Degree Of Freedom electric drive stacking loading and unloading manipulator Download PDFInfo
- Publication number
- CN207618651U CN207618651U CN201721781619.6U CN201721781619U CN207618651U CN 207618651 U CN207618651 U CN 207618651U CN 201721781619 U CN201721781619 U CN 201721781619U CN 207618651 U CN207618651 U CN 207618651U
- Authority
- CN
- China
- Prior art keywords
- arm
- gear
- degree
- mechanical arm
- transverse arm
- Prior art date
- 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
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of Three Degree Of Freedom electric drive stacking loading and unloading manipulators, including the holder being vertically arranged, transverse arm is horizontally arranged on holder, mechanical arm is provided on transverse arm, mechanical arm bottom is provided with grabbing device, it is provided with the DC servo motor for driving transverse arm rotation by holder, the first stepper motor slided for control machinery arm is provided on transverse arm, the second stepper motor to move up and down for control machinery arm is provided on mechanical arm；Gear pair, which is controlled, by DC servo motor drives transverse arm rotation, by the first step motor control rack and pinion drive mechanism drive mechanical arm horizontally slip, mechanical arm is driven to move up and down by the second step motor control rack and pinion drive mechanism, the present apparatus is capable of the movement of robotically controlled arm being progress horizontal extension, left rotation and right rotation and oscilaltion three degree of freedom, improve crawl precision, manipulator response is fast, and driving force is larger, and signal detection, transmission, processing are convenient.
Description
Technical field
The utility model belongs to industrial automation, and in particular to a kind of Three Degree Of Freedom electric drive stacking charging ＆ discharging machine
Tool hand.
Background technology
Palletizing mechanical arm is the new architecture for having Prospect of R ＆ D, and quality is more stable, and cost performance is also higher.It can imitate people
Certain holding functions of hand and arm, and by fixed routine crawl, carrying object or operation instrument.Palletizing mechanical arm can improve life
Efficiency is produced, to economization number of workers, reduces cost；And safety is good, to improve product quality, promote factory's image.
For existing manipulator in the market, existing three freedom degree manipulator patent is mostly Pneumatic manipulator, and there are skies
Gas compressibility is big, and work smoothness are poor, and speed control is difficult, to reach the shortcomings of accurate position control is extremely difficult.
Utility model content
Purpose of the utility model is to overcome the above-mentioned shortcomings and provide a kind of Three Degree Of Freedom electric drive stacking charging ＆ discharging machines
Tool hand, manipulator response is fast, and driving force is larger, and signal detection, transmission, processing are convenient, and a variety of flexible controls can be used
Scheme can solve the problems, such as that current Pneumatic manipulator control accuracy is low.
In order to achieve the above object, the utility model includes the holder being vertically arranged, and transverse arm is horizontally arranged on holder, horizontal
Mechanical arm is provided on arm, mechanical arm bottom is provided with grabbing device, the direct current for driving transverse arm rotation is provided with by holder
Servo motor is provided with the first stepper motor slided for control machinery arm on transverse arm, is provided on mechanical arm for controlling
The second stepper motor that mechanical arm moves up and down；
DC servo motor is connect with transverse arm by gear pair, and the first stepper motor is driven by rack and pinion drive mechanism
Mechanical arm horizontally slips, and the second stepper motor drives mechanical arm to move up and down by rack and pinion drive mechanism.
The end set of transverse arm has shaft, shaft to be set on holder, DC servo motor connection driving gear, in shaft
It is arranged with rotate gear, drives gear and rotate gear engagement.
The first rolling bearing and the second rolling bearing are arranged in shaft.
The first rack is provided on transverse arm, the first stepper motor connects first gear, first gear and the engagement of the first rack.
It is provided with the second rack on mechanical arm, the second stepper motor is by gear axis connection second gear, outside the second rack
It is arranged with deep groove ball bearing, deep groove ball bearing is fixed by end ring.
Grabbing device uses magnechuck.
Compared with prior art, the utility model controls gear pair by DC servo motor and drives transverse arm rotation, passes through
The first step motor control rack and pinion drive mechanism driving mechanical arm horizontally slip, pass through the second step motor control gear
Rack gear drives mechanical arm to move up and down, and the present apparatus being capable of robotically controlled arm being progress horizontal extension, left rotation and right rotation
With the movement of oscilaltion three degree of freedom, crawl precision is improved, manipulator response is fast, and driving force is larger, signal detection,
Transmission, processing are convenient, and a variety of flexible control programs can be used.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the schematic diagram of the utility model transverse arm；
Fig. 3 is the schematic diagram of the utility model mechanical arm；
Fig. 4 is the cooperation schematic diagram of the utility model holder and transverse arm；
Wherein, 1, DC servo motor；2 shafts；3, the first stepper motor；4, the first rack；5, the second stepper motor；7、
Grabbing device；8, holder；9, first gear；10, transverse arm；11, deep groove ball bearing；12, end ring；13, gear shaft；15,
Two gears；16, the second rack；18, mechanical arm；19, gear is driven；21, rotate gear；22, the first rolling bearing；23, second
Rolling bearing.
Specific implementation mode
The utility model is described further below in conjunction with the accompanying drawings.
Referring to Fig. 1 to Fig. 4, the utility model includes the holder 8 being vertically arranged, and transverse arm 10 is horizontally arranged on holder 8, horizontal
Mechanical arm 18 is provided on arm 10,18 bottom of mechanical arm is provided with grabbing device 7, is provided with by holder 8 for driving transverse arm 10
The DC servo motor 1 of rotation is provided with the first stepper motor 3 slided for control machinery arm 18, mechanical arm on transverse arm 10
The second stepper motor to move up and down for control machinery arm is provided on 18；DC servo motor 1 passes through gear with transverse arm 10
Pair connection, the first stepper motor 3 drive mechanical arm 18 to horizontally slip by rack and pinion drive mechanism, and the second stepper motor 5 is logical
Rack and pinion drive mechanism driving mechanical arm 18 is crossed to move up and down；
The end set of transverse arm 10 has shaft 2, shaft 2 to be set on holder 8, the connection driving gear of DC servo motor 1
19, it is arranged with rotate gear 21 in shaft 2, drives gear 19 and rotate gear 21 to engage, first axis of rolling is arranged in shaft 2
22 and second rolling bearing 23 are held, is provided with the first rack 4 on transverse arm 10, the first stepper motor 3 connects first gear 9, and first
Gear 9 and the engagement of the first rack 4.
The second rack 16 is provided on mechanical arm 18, the second stepper motor 5 connects second gear 15 by gear shaft 13, the
It is arranged with deep groove ball bearing 11 outside two racks 16, deep groove ball bearing 11 is fixed by end ring 12.
Preferably, grabbing device 7 uses magnechuck.
In use, driving driving gear 19 to rotate by DC servo motor 1, driving gear 19 drives rotate gear 21 to revolve
Turn, rotate gear 21 drives 2 rotation around the shaft of transverse arm 10, the first stepper motor 3 that first gear 9 is driven to rotate, 9 band of first gear
Dynamic first rack 4 moves forward and backward, and first gear drives transverse arm 10 to move forward and backward, and the second stepper motor 5 drives 15 turns of second gear
Dynamic, second gear 15 drives the second rack 16 to move up and down, and the second rack 16 drives mechanical arm to move up and down；Control magnechuck
Grabbing workpiece realizes workpiece transfer.
Claims (6)
1. a kind of Three Degree Of Freedom electric drive stacking loading and unloading manipulator, which is characterized in that including the holder (8) being vertically arranged,
It is horizontally arranged with transverse arm (10) on holder (8), mechanical arm (18) is provided on transverse arm (10), mechanical arm (18) bottom, which is provided with, grabs
Device (7) is taken, the DC servo motor (1) for driving transverse arm (10) to rotate is provided with by holder (8), transverse arm is arranged on (10)
It is useful for the first stepper motor (3) of control machinery arm (18) sliding, mechanical arm is provided on (18) for control machinery arm
Second stepper motor of lower movement；
DC servo motor (1) is connect with transverse arm (10) by gear pair, and the first stepper motor (3) passes through rack pinion machine
Structure driving mechanical arm (18) horizontally slips, and the second stepper motor (5) is driven by rack and pinion drive mechanism on mechanical arm (18)
Lower movement.
2. a kind of Three Degree Of Freedom electric drive stacking loading and unloading manipulator according to claim 1, which is characterized in that transverse arm
(10) end set has shaft (2), shaft (2) to be set on holder (8), DC servo motor (1) connection driving gear
(19), rotate gear (21), driving gear (19) and rotate gear (21) engagement are arranged in shaft (2).
3. a kind of Three Degree Of Freedom electric drive stacking loading and unloading manipulator according to claim 2, which is characterized in that shaft
(2) the first rolling bearing (22) and the second rolling bearing (23) are arranged on.
4. a kind of Three Degree Of Freedom electric drive stacking loading and unloading manipulator according to claim 1, which is characterized in that transverse arm
(10) the first rack (4) is provided on, the first stepper motor (3) connects first gear (9), first gear (9) and the first rack
(4) it engages.
5. a kind of Three Degree Of Freedom electric drive stacking loading and unloading manipulator according to claim 1, which is characterized in that machinery
It is provided with the second rack (16) on arm (18), the second stepper motor (5) connects second gear (15) by gear shaft (13), and second
Deep groove ball bearing (11) is arranged with outside rack (16), deep groove ball bearing (11) is fixed by end ring (12).
6. a kind of Three Degree Of Freedom electric drive stacking loading and unloading manipulator according to claim 1, which is characterized in that crawl
Device (7) uses magnechuck.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721781619.6U CN207618651U (en) | 2017-12-19 | 2017-12-19 | A kind of Three Degree Of Freedom electric drive stacking loading and unloading manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721781619.6U CN207618651U (en) | 2017-12-19 | 2017-12-19 | A kind of Three Degree Of Freedom electric drive stacking loading and unloading manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207618651U true CN207618651U (en) | 2018-07-17 |
Family
ID=62821653
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721781619.6U Expired - Fee Related CN207618651U (en) | 2017-12-19 | 2017-12-19 | A kind of Three Degree Of Freedom electric drive stacking loading and unloading manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207618651U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110125969A (en) * | 2019-06-20 | 2019-08-16 | 江苏雷益机械科技有限公司 | Rotary machine blanking device on hand |
| CN114586527A (en) * | 2022-02-25 | 2022-06-07 | 哈尔滨工程大学 | Desert shrub stumping robot based on moving mechanism and four-degree-of-freedom mechanical arm |
-
2017
- 2017-12-19 CN CN201721781619.6U patent/CN207618651U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110125969A (en) * | 2019-06-20 | 2019-08-16 | 江苏雷益机械科技有限公司 | Rotary machine blanking device on hand |
| CN114586527A (en) * | 2022-02-25 | 2022-06-07 | 哈尔滨工程大学 | Desert shrub stumping robot based on moving mechanism and four-degree-of-freedom mechanical arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203697032U (en) | Multi-degree-of-freedom precision manipulator | |
| CN203611246U (en) | Industrial robot | |
| CN203712722U (en) | Three-freedom-degree mechanical hand | |
| CN104227713B (en) | A kind of crops carrying device based on Arduino single-chip microcomputer | |
| CN207618651U (en) | A kind of Three Degree Of Freedom electric drive stacking loading and unloading manipulator | |
| CN206966984U (en) | A kind of two-sided bus-bar automatic assembling machine | |
| CN203486548U (en) | Wafer raw material disc transversely-moving driving structure | |
| CN106737092B (en) | A kind of pilotless automobile shell polissoir | |
| CN201701439U (en) | Rectangular coordinate type and articulated type combined Chinese traditional massage robot | |
| CN203712723U (en) | Two-freedom-degree mechanical arm | |
| CN113043315A (en) | Dual-purpose mechanical arm for intelligent manufacturing | |
| CN107685322A (en) | A kind of manipulator of multiple degrees of freedom industrial robot | |
| CN209078328U (en) | Automatic-clamping rotating mechanism | |
| CN104400778B (en) | A kind of control method of the carrying of the crops based on Arduino single-chip microcomputer | |
| CN206241739U (en) | A kind of guide screw transmission platform of automatic compensation gap error | |
| CN112157647A (en) | Six-degree-of-freedom industrial robot | |
| CN218905390U (en) | Plane parallel robot | |
| CN215147186U (en) | Workpiece turnover device | |
| CN216836060U (en) | A multidirectional multi-position drop feed mechanism of getting of circle type material for arm | |
| CN220699642U (en) | Artificial intelligence machine hand | |
| CN220179349U (en) | Feeding manipulator mechanism | |
| CN215920453U (en) | Transverse moving device for industrial manipulator | |
| CN219404301U (en) | Rotary telescopic industrial manipulator | |
| CN215786838U (en) | Gear set and adjusting mechanism of rocker arm adjusting machine | |
| CN103878599A (en) | Locating device and locating method for rotary working table |
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: 20180717 Termination date: 20181219 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |