CN207876825U - A kind of manipulator with single chassis mobile platform - Google Patents

Abstract

The utility model discloses a kind of manipulator with single chassis mobile platform, including holder, driving chain, mobile platform and drive sprocket, drive sprocket is provided with A driven sprockets between driving chain and holder on the mobile platform；Suction cup assembly is provided with below the mobile platform, the Suction cup assembly includes mounting base, mounting bracket, control mechanism and sucker；The control mechanism includes the B control mechanisms that A control mechanisms and stroke are more than A control mechanisms；The mobile platform 12 is connected with Y-direction driving mechanism.The utility model has the beneficial effects that：The utility model can realize the big weight transport of the long range in planar range, ensure that sprocket wheel will not rotate under the gravity of dead weight and damage motor output shaft or accident occur.

Description

A kind of manipulator with single chassis mobile platform

Technical field

The utility model is related to manipulator fields, are a kind of manipulators with single chassis mobile platform specifically.

Background technology

Manipulator is a kind of certain holding functions that can imitate human hand and arm, to press fixed routine crawl, carry object Or the automatic pilot of operation instrument.Feature is that various expected operations can be completed by programming, on construction and performance Have the advantage of people and robotics respectively concurrently.

Manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest, it can be instead of the numerous of people Heavy work can be operated under hostile environment to protect personal safety with realizing the mechanization and automation of production, thus be answered extensively For departments such as machine-building, metallurgy, electronics, light industry and atomic energy.

Manipulator is mainly made of executing agency, driving mechanism and control system three parts.Hand is for grasping work Part（Or tool）Component, according to by the shape of grasping object, size, weight, material and job requirements and there are many structure shape Formula, such as clamp-type, holding type and absorbent-type.Motion makes hand complete various rotations（It swings）, mobile or compound motion It realizes defined action, changes by the position of grasping object and posture.Motion such as lifts, stretches, rotating at the independent fortune Flowing mode, the referred to as degree of freedom of manipulator.In order to capture the object of any position and orientation in space, there need to be 6 degree of freedom.From It is the key parameter of manipulator design by degree.Degree of freedom is more, and the flexibility of manipulator is bigger, and versatility is wider, structure It is more complicated.General special manipulator has 2~3 degree of freedom.Control system is by the motor to each degree of freedom of manipulator Control, to complete specific action.Receiving sensor feedack simultaneously, the closed-loop control that stroke is stablized.The core of control system The heart is typically to be made of microcontroller chips such as microcontroller or dsp, and wanted function is realized by being programmed to it.

Manipulator under the conditions of the prior art when placing article, generally have mobile article to after other article contacts again Unclamp or be moved to above other articles the mode for discharging and being stacked under the effect of gravity by article.Make article be moved to and its His article contacts make the stroke of manipulator larger, and article is easy under the driving effect of manipulator to occur with other articles It scrapes, the mobile control of manipulator needs to consider the factors such as shape feature, structure feature, the precision of article, leads to control difficulty Larger, programming is complicated.Article is only moved to hair on other articles to discharge so that article lands under the effect of gravity, uncomfortable Movement for breakables, the article that cannot be absorbed impact and other items.And larger noise can be sent out after article landing, Easy to produce airborne dust.

Utility model content

The purpose of this utility model is to provide a kind of manipulators with single chassis mobile platform, are used for control machinery hand Planar move to realize the function of the big dead weight cargo of movement in planar range, and by reduce the stroke of manipulator come Energy consumption is reduced, airborne dust is generated when article being avoided to land.

The utility model is achieved through the following technical solutions：A kind of manipulator with single chassis mobile platform, including branch Frame, the driving chain being arranged on holder, the mobile platform being slidably mounted on holder and setting on a mobile platform and with biography The drive sprocket of dynamic chain engagement, the drive sprocket is between driving chain and holder, the drive sprocket center of circle and holder Distance be more than the radius of drive sprocket, be provided with above drive sprocket and nibbled with driving chain on the mobile platform The A driven sprockets of conjunction, the A driven sprockets are located at the both sides of driving chain with drive sprocket；The mobile platform Lower section be provided with Suction cup assembly, the Suction cup assembly includes the mounting base being connect with holder, the peace that is arranged in mounting base Dress holder, several be mounted on mounting bracket on and can realize the control mechanism linearly driven and and control machine The sucker that structure is sequentially connected；The control mechanism includes the B control mechanisms that A control mechanisms and stroke are more than A control mechanisms；Institute The mobile platform 12 stated is connected with Y-direction driving mechanism；The Y-direction driving mechanism includes two Y-direction belt support frames 31, sets respectively Set Y-direction driving pulley 34 on Y-direction belt support frame 31 and Y-direction driven pulley 36, respectively with Y-direction driving pulley 34 and Y-direction from The Y-direction belt 35 that movable belt pulley 36 is sequentially connected and the Y-direction motor 32 being sequentially connected with Y-direction driving pulley 34；The movement is flat It is provided with the Y-direction clamping device 18 for Y-direction belt 35 to be clamped on platform 12 and rolls the Y-direction branch of connection with Y-direction belt support frame 31 Frame idler wheel 19.

Driving chain is arranged on holder this programme, and the both ends of driving chain is made to be fixedly connected with holder, using actively Sprocket wheel is engaged with driving chain, and mobile platform can be driven to move along the length direction of driving chain when drive sprocket rotates It is dynamic.Driving chain can be made to bend using A driven sprockets, driving chain is made to be in contact in transverse direction and drive sprocket, from And the contact length of driving chain and drive sprocket is increased, the connection that driving chain and drive sprocket can be improved with this is strong Degree, and increase the load-bearing capacity of drive sprocket.It can also be tensioned driving chain using A driven sprockets, prevent driving chain loose The phenomenon that dynamic and appearance takes off chain, skids.Cargo is captured using sucker, then drives sucker to be moved to suitable position by driving mechanism It sets, using the larger B control mechanisms driving of stroke by the preferential landing of a part for mobile article, then unlocks suction of the sucker to article It takes, to make article be detached from sucker.The weight for being significantly less weight than manipulator of control mechanism drives the driving ratio of control mechanism The energy that dynamic manipulator is more prone to, is consumed is also less.Thus the stroke of control mechanism can be utilized to replace part machinery The stroke of hand is to play simplify control, energy saving effect.So that part objects is preferentially landed and discharges other positions again, it can Reduce the impact being subject to when article landing, to reduce noise, avoids generating airborne dust.It is particularly suitable for big weight powder content sack The movement of product.

The B driven sprockets engaged below drive sprocket and with driving chain, institute are provided on the mobile platform The B driven sprockets stated are located at the both sides of driving chain with drive sprocket.With this drive chain can be tensioned using B driven sprockets The driving chain of lower section is taken turns, and the driving chain below drive sprocket is made to be contacted with drive sprocket in horizontal direction, to have Conducive to the bearing capacity of raising drive sprocket.

The cornerite of the A driven sprockets is greater than or equal to 90 °；The cornerite of B driven sprockets is greater than or equal to 90 °.Utilize A The position relationship of driven sprocket and drive sprocket can adjust the cornerite of drive sprocket, and the cornerite of A driven sprockets is made to be more than or wait In 90 °, the cornerite that can increase drive sprocket top half is as low as identical as the cornerite of A driven sprockets greatly, to increase transmission The contact length and bonding strength of chain and drive sprocket.It can be tensioned the transmission below drive sprocket using B driven sprockets Chain, and the driving chain below drive sprocket is made to be contacted with drive sprocket in horizontal direction, to be conducive to improve actively The bearing capacity of sprocket wheel.

The chain for installing driving chain is provided on the holder；It is useful in the chain to transmission The limited block that chain is limited.With this so that driving chain is in embedded installation, be conducive to the occupancy for reducing whole device Space keeps structure compacter.The position that driving chain is limited using limited block, avoids driving chain from arbitrarily shaking and take off The risk of chain.

The mobile platform is distributed in stent outer in a ring, and be provided with several on mobile platform is distributed in a ring Branch frame peripheral and the idler wheel that connection is rolled with holder；The sprocket drive of drive sprocket rotation is provided on mobile platform.By Mobile platform and support assorted precision can be caused not high in the presence of mismachining tolerance, mobile platform is opposite with holder slide when, Collision may be will produce, shaken, be unfavorable for the engaged transmission of driving chain and drive sprocket, connect, had with holder using idler wheel Harmful effect is caused to the engaged transmission of driving chain and drive sprocket conducive to mismachining tolerance is avoided.

The sucker is uniformly distributed by array, and there are two the settings of B control mechanisms and diagonal distribution.It is convenient for article with this Uniform adsorption capacity is provided, the bonding strength of article and sucker is improved, avoids article unbalance stress and fall off.

The control cabinet for connecting and capableing of output torque with holder is provided between mounting base and holder, the control cabinet passes Dynamic to be connected with shaft, the shaft is connect with mounting base, and the control cabinet is sequentially connected with driving motor.Utilize driving electricity Machine can drive article to rotate, to be conducive to adjust the angle of article landing or stacking.

The belt being connected between shaft and driving motor output shaft is provided in the control cabinet.It can using belt Play the role of buffering absorbing, avoids the vibration of driving motor that article is made to be loosened with sucker.

The sucker is vacuum cup, and the vaccum suction pipe for being connected to evacuator is provided on the sucker. It is capable of providing larger adsorption capacity with this, increases the bonding strength between article and sucker.

There are two Y-direction connecting brackets 38 for connection between two Y-direction belt support frames 31；Two Y-direction belts Y-direction driving pulley 34 on holder 31 is coaxially connected by Y-direction connecting shaft 33, and the Y-direction motor 32 setting connects branch in Y-direction It is sequentially connected on frame 38 and with Y-direction connecting shaft 33.

The Y-direction tensioning wheel 37 being sequentially connected with Y-direction belt 35 is provided on the Y-direction belt support frame 31.

The utility model compared with prior art, has the following advantages and advantageous effect：

The utility model can utilize chain sprocket to realize that the big weight of the long range of vertical direction is transported, and sprocket wheel is made to have The function of standby self-locking ensures that sprocket wheel will not rotate under the gravity of dead weight and damage motor output shaft or thing occur Therefore replace the stroke of a part of manipulator to play simplify control, energy saving effect using the stroke of control mechanism, make Preferentially landing discharges other positions to part objects again, can reduce the impact being subject to when article landing and be avoided to reduce noise Generate airborne dust.

Description of the drawings

Fig. 1 is the structural schematic diagram of this programme；

Fig. 2 is the scheme of installation of drive sprocket；

Fig. 3 is the structural schematic diagram of Suction cup assembly；

Fig. 4 is the front view of Suction cup assembly；

Fig. 5 is the structural schematic diagram of Y-direction driving mechanism；

Fig. 6 is the structural schematic diagram of Y-direction clamping device and Y-direction holder idler wheel；

Fig. 7 is the connection diagram of mobile platform and Y-direction driving mechanism；

Wherein 11- holders, 12- mobile platforms, 13- driving chains, 14- drive sprockets, 15-A driven sprockets, 16-B are driven Sprocket wheel, 17- idler wheels, 18-Y are controlled to holder idler wheel, 110-Y to support wheel, 21- driving motors, 22- to clamping device, 19-Y Case, 23- belts, 24- shafts, 25- mounting bases, 26- mounting brackets, 27- vaccum suction pipes, 28- suckers, 29-A control mechanisms, 210-B control mechanisms, 31-Y is to belt support frame, and 32-Y is to motor, and 33-Y is to connecting shaft, and 34-Y is to driving pulley, and 35-Y is to skin Band, 36-Y is to driven pulley, and 37-Y is to tensioning wheel, and 38-Y is to connecting bracket.

Specific implementation mode

The utility model is described in further detail with reference to embodiment, but the embodiment of the utility model is not It is limited to this.

Embodiment 1：

As shown in Figure 1 and Figure 2, in the present embodiment, a kind of manipulator with single chassis mobile platform, including holder 11, set Set the driving chain 13 on holder 11, the mobile platform 12 being slidably mounted on holder 11 and be arranged on mobile platform 12 and The drive sprocket 14 engaged with driving chain 13, the drive sprocket 14 is between driving chain 13 and holder 11, actively 14 center of circle of sprocket wheel is more than the radius of drive sprocket 14 at a distance from holder 11, is provided with positioned at actively on the mobile platform 12 The A driven sprockets 15 sprocket wheel 14 top and engaged with driving chain 13, the A driven sprockets 15 distinguish position with drive sprocket 14 In the both sides of driving chain 13.

As shown in Figure 3, Figure 4, the lower section of the mobile platform 12 is provided with Suction cup assembly, and the Suction cup assembly includes The mounting base 25 that is connect with holder 11, the mounting bracket 26 being arranged in mounting base 25, several are mounted in mounting bracket 26 And it can realize the control mechanism linearly driven and the sucker being sequentially connected with control mechanism 28；The control Mechanism includes the B control mechanisms 210 that A control mechanisms 29 and stroke are more than A control mechanisms 29.

As shown in figure 5, the mobile platform 12 is connected with Y-direction driving mechanism.The Y-direction driving mechanism includes two Y-direction belt support frame 31, the Y-direction driving pulley 34 being separately positioned on Y-direction belt support frame 31 and Y-direction driven pulley 36, respectively with Y The Y-direction belt 35 being sequentially connected to driving pulley 34 and Y-direction driven pulley 36 and the Y-direction being sequentially connected with Y-direction driving pulley 34 Motor 32.It is both provided with Y-direction driving pulley 34, Y-direction driven pulley 36 and Y-direction belt 35 on each Y-direction belt support frame 31.Make two A Y-direction belt support frame 31 is arranged in parallel.Mobile platform 12 is arranged between two Y-direction belt support frames 31.

As shown in fig. 6, being provided with 18 He of Y-direction clamping device for Y-direction belt 35 to be clamped on the mobile platform 12 The Y-direction holder idler wheel 19 of connection is rolled with Y-direction belt support frame 31.As shown in fig. 7, dress is clamped using the Y-direction on mobile platform 12 It sets 18 to connect with Y-direction belt 35, when Y-direction driving pulley 34 drives Y-direction belt 35 to rotate, Y-direction belt 35 is clamped by Y-direction and is filled It sets 18 drive mobile platforms 12 to move along the rotation direction of Y-direction belt 35, to realize the work(of the overall movement of driving arm 11 Energy.The position for acting to keep mobile platform 12 and the shifting of support can be played to mobile platform 12 using Y-direction holder idler wheel 19 Stability when moving platform 12 moves, and sliding friction is become into rolling friction to reduce resistance when mobile platform 12 moves Power.It can realize that holder 11 moves in planar range using the combined use of Y-direction driving mechanism and drive sprocket 14, to Cargo is driven to be moved in planar range.

This programme fixes mobile platform 12, when drive sprocket 14 rotates, passes through drive sprocket 14 and driving chain 13 Engaged transmission drive holder 11 move, to using holder 11 drive Suction cup assembly move, when Suction cup assembly sucker 28 inhale When with cargo, cargo can be driven to be moved along the length direction of driving chain 13.

Driving chain 13 can be made to bend using A driven sprockets 15, make driving chain 13 in transverse direction and drive sprocket 14 are in contact, to increase the contact length of driving chain 13 and drive sprocket 14, and the drive chain within the same time Wheel 14 and the at a fully engaged number of teeth of driving chain 13, the bonding strength of driving chain 13 and drive sprocket 14 can be improved with this, And increase the load-bearing capacity of drive sprocket 14.Avoid mobile platform 12 and drive sprocket 14 under the action of self-weight, make shifting Moving platform 12 moves down and drive sprocket 14 is driven to drive electric machine main shaft torsional deflection by transmission chain.Utilize A driven sprockets 15 can also play the role of being tensioned driving chain 13, prevent driving chain 13 from loosening and the phenomenon that de- chain, skid occur.

In the present embodiment, mobile platform 12 is made to be distributed in a ring around holder 11.That is the trepanning on mobile platform 12, makes Holder 11 passes through the hole on mobile platform 12.The matching relationship of hole and axis can be utilized from circumference using the mobile platform 12 of annular Direction limits mobile platform 12, prevents mobile platform 12 from toppling.

In the present embodiment, using motor as the power source of drive sprocket 14.It is arranged on the mobile platform 12 useful In the support construction of support drive sprocket 14, specific supporting way is the customary means of those skilled in the art, this field The content that technical staff records according to this programme can realize said effect, not go to live in the household of one's in-laws on getting married herein to the concrete structure of support construction It states.

This programme is sequentially connected using driving mechanism and mounting base 25, and driving mechanism drive installation seat 25 is made to drive sucker 28 It is mobile, the movement of cargo is realized using the absorption cargo of sucker 28.In the present embodiment, the driving mechanism is art technology The customary means of personnel, not as the improvement of this programme, those skilled in the art record concrete structure according to this programme Content can realize said effect, not repeat herein the concrete structure of driving mechanism.

When article is carried by sucker 28 to the position to be placed top, the B control mechanisms 210 for utilizing stroke larger drive By a part for mobile article preferentially drop to ground or other article contacts, then unlock absorption of the sucker 28 to article, from And article is made to be detached from sucker 28 under gravity.Since a part for article has first been contacted to earth, thus when entire article is complete When portion is put down, the impact that article is subject to can be reduced, to reduce noise, avoid generating airborne dust.It is particularly suitable for big heavy bag Fill the movement of granular goods.

The weight for being significantly less weight than manipulator of control mechanism more holds the driving of control mechanism than driving manipulator Easily, the energy consumed is also less.The stroke of control mechanism can be thus utilized to replace the formation of a part of manipulator to rise To simplify control, energy saving effect.

Embodiment 2：

As shown in Fig. 2, on the basis of the above embodiments, in the present embodiment, position is provided on the mobile platform 12 In the B driven sprockets 16 drive sprocket 14 lower section and engaged with driving chain 13, the B driven sprockets 16 and drive sprocket 14 It is located at the both sides of driving chain 13.The driving chain 13 of 14 lower section of drive sprocket can be tensioned using B driven sprockets 16, and And the driving chain 13 of 14 lower section of drive sprocket is made to be contacted with drive sprocket 14 in horizontal direction, to be conducive to improve drive chain The bearing capacity and self-locking property of wheel 14.It is provided with the support for being used to support B driven sprockets 16 on the mobile platform 12 Structure, specific supporting way are the customary means of those skilled in the art, and those skilled in the art record according to this programme Content can realize said effect, the concrete structure of support construction is not repeated herein.In the present embodiment, other are not retouched The part stated is identical as the content of above-described embodiment, therefore does not repeat.

Embodiment 3：

On the basis of the above embodiments, in the present embodiment, the cornerite of the A driven sprockets 15 is greater than or equal to 90 °； The cornerite of B driven sprockets 16 is greater than or equal to 90 °.The minimum point of A driven sprockets 15 is set to be flushed with the peak of drive sprocket 14 It is 90 ° that can make the cornerite of A driven sprockets 15.The minimum point of A driven sprockets 15 is set to be less than the peak of drive sprocket 14 The cornerite of A driven sprockets 15 is set to be more than 90 °.The cornerite refers to driving chain 13 and the center of circle corresponding to sprocket wheel contact arc Angle, sprocket wheel herein includes A driven sprockets 15 and drive sprocket 14.

It follows that the packet of drive sprocket 14 can be adjusted using the position relationship of A driven sprockets 15 and drive sprocket 14 Angle.Similarly, the cornerite of drive sprocket 14 can be adjusted using the position relationship of B driven sprockets 16 and drive sprocket 14.

So that the cornerite of A driven sprockets 15 is greater than or equal to 90 °, the cornerite size of 14 top half of drive sprocket can be increased To identical as the cornerite of A driven sprockets 15, to increase driving chain 13 and the contact length of drive sprocket 14 and connect by force Degree.Top half herein be across 14 circle central axis of drive sprocket horizontal plane drive sprocket 14 divided be top half and under Half part.It can be taken with the stability and drive sprocket 14 that this is conducive to improve when mobile platform 12 is relatively moved with holder 11 The weight of band.

As low as identical as the cornerite of B driven sprockets 16 greatly, the Neng Gouzeng by the cornerite for increasing by 14 lower half portion of drive sprocket Add the contact length and bonding strength of driving chain 13 and drive sprocket 14.Drive sprocket 14 is wrapped in conjunction with A driven sprockets 15 The influence at angle can make the cornerite of drive sprocket 14 be greater than or equal to 180 ° using A driven sprockets 15 and B driven sprockets 16.Make The tooth of at least half of drive sprocket 14 can be at a fully engaged with driving chain 13, to be conducive to improve driving chain 13 with The bonding strength of drive sprocket 14 and the bearing capacity of drive sprocket 14.

It is provided with the support construction for being used to support A driven sprockets 15 on the mobile platform 12, specific support side Formula is the customary means of those skilled in the art, and the content that those skilled in the art record according to this programme can realize above-mentioned effect Fruit does not repeat the concrete structure of support construction herein.In the present embodiment, other parts not described and above-described embodiment Content it is identical, therefore do not repeat.

Embodiment 4：

On the basis of the above embodiments, it in the present embodiment, is provided on the holder 11 for installing driving chain 13 chain；The limited block limited to driving chain 13 is useful in the chain.With this so that driving chain 13 be in embedded installation, is conducive to the occupied space for reducing whole device, keeps structure compacter.Make A driven sprockets 15 and B Driven sprocket 16 is extend into chain, when A driven sprockets 15 or B driven sprockets 16 are with 13 engaged transmission of driving chain, energy Enough driving chain 13 is pressed into chain using A driven sprockets 15 or B driven sprockets 16, prevents driving chain 13 from not engaging Part arbitrarily shake and cause take off chain accident.The position that driving chain 13 is limited using limited block, avoids driving chain 13 It arbitrarily shakes and occurs taking off the risk of chain.In the present embodiment, other parts not described are identical as the content of above-described embodiment, therefore It does not repeat.

Embodiment 5：

On the basis of the above embodiments, in the present embodiment, the mobile platform 12 is distributed in a ring outside holder 11 Side is provided with several idler wheels 17 for being distributed in a ring around holder 11 and rolling connection with holder 11 on mobile platform 12； The sprocket drive of drive sprocket rotation is provided on mobile platform 12.Since the presence of mismachining tolerance can lead to mobile platform 12 coordinate precision not high with holder 11, when mobile platform 12 and holder 11 slide relatively, may will produce collision, shake, no Conducive to the engaged transmission of driving chain 13 and drive sprocket 14 and larger noise is generated, is connect with holder 11 using idler wheel 17, So that idler wheel 17 is formed support to keep the fixation of 12 position of mobile platform, is conducive to avoid mismachining tolerance to driving chain 13 and master The engaged transmission of movable sprocket 14 causes harmful effect.Biography can be simplified by making sprocket drive that mobile platform 12 be followed to move together Dynamic chain.In the present embodiment, drive sprocket 14 is driven with reduction box using motor, the motor is arranged with reduction box On mobile platform 12.The reduction box is the customary means of those skilled in the art, and those skilled in the art are according to this programme The content of record can realize said effect, not repeat herein the concrete structure of reduction box and setting form.This implementation In example, other parts not described are identical as the content of above-described embodiment, therefore do not repeat.

Embodiment 6：

On the basis of the above embodiments, in the present embodiment, the sucker 28 is uniformly distributed by array, B control mechanisms There are two 210 settings and diagonal distribution.It is convenient for providing uniform adsorption capacity to article using sucker 28 with this, improves article and inhale The center of gravity of the bonding strength of disk 28, the center of gravity for making article and mounting base 25 is maintained on same vertical line, avoids article stress not Fall off with sucker 28.Improve security performance when this programme transport article.And when controlling article landing, make article Diagonal part is first landed, then the part among article is allowed to land, and is uniformly disperseed when with this being conducive to that article is enable to land Impact force reduces the impact being subject to when article landing, avoids generating airborne dust.In the present embodiment, the B control mechanisms 210 Quantity, which is more than two, can also realize said effect.In the present embodiment, the content of other parts not described and above-described embodiment It is identical, therefore do not repeat.

Embodiment 7：

On the basis of the above embodiments, it in the present embodiment, is provided between mounting base 25 and holder 11 and connects with holder 11 The control cabinet 22 of output torque is connect and is capable of, the control cabinet 22 is sequentially connected with shaft 24, the shaft 24 and installation Seat 25 connects, and the control cabinet 22 is sequentially connected with driving motor 21.Using driving motor 21 by control cabinet 22 to shaft 24 output torques drive article to rotate using shaft 24, to be conducive to adjust the angle of article landing or stacking.This In embodiment, other parts not described are identical as the content of above-described embodiment, therefore do not repeat.

Embodiment 8：

On the basis of the above embodiments, in the present embodiment, be provided in the control cabinet 22 be connected to shaft 24 with Belt 23 between 21 output shaft of driving motor.It can play the role of buffering absorbing using belt, avoid driving motor 21 Vibration is transmitted on sucker 28, and sucker 28 is caused to vibrate and article is made to be loosened with sucker 28.In the present embodiment, what other were not described Part is identical as the content of above-described embodiment, therefore does not repeat.

Embodiment 9：

On the basis of the above embodiments, in the present embodiment, the sucker 28 is vacuum cup, on the sucker 28 It is provided with the vaccum suction pipe 27 for being connected to evacuator.When sucker 28 and article contacts, passed through using evacuator true Space of the suction pipe 27 between sucker 28 and article vacuumizes, and larger adsorption capacity is capable of providing with this, increases article and inhales Bonding strength between disk 28.In the present embodiment, other parts not described are identical as the content of above-described embodiment, therefore do not go to live in the household of one's in-laws on getting married It states.

Embodiment 10：

On the basis of the above embodiments, in the present embodiment, between described two Y-direction belt support frames 31 there are two connections Y-direction connecting bracket 38.Two Y-direction belt support frames 31 are fixedly connected by Y-direction connecting bracket 38, Y-direction belt branch can be increased The rigidity and bearing capacity of frame 31, and improve the depth of parallelism of two Y-direction belt support frames 31.

Y-direction driving pulley 34 on two Y-direction belt support frames 31 is coaxially connected by Y-direction connecting shaft 33, described Y-direction motor 32 be arranged in Y-direction connecting bracket 38 and with Y-direction connecting shaft 33 be sequentially connected.It can be made using Y-direction connecting shaft 33 Two Y-direction driving pulleys 34 rotate synchronously, and mobile platform 12 is pulled to make two Y-direction belts 35 synchronize, and are conducive to improve and move The mobile accuracy and stability of moving platform 12.In the present embodiment, the content phase of other parts not described and above-described embodiment Together, it therefore does not repeat.

Embodiment 11：

On the basis of the above embodiments, it in the present embodiment, is provided on the Y-direction belt support frame 31 and Y-direction belt The 35 Y-direction tensioning wheels 37 being sequentially connected.It is tensioned Y-direction belt 35 using Y-direction tensioning wheel 37, Y-direction belt 35 is avoided to loosen and occur The phenomenon that skidding.The Y-direction tensioning wheel 37 is located at Y-direction driving pulley 34 and Y-direction driven pulley with Y-direction clamping device 18 The both sides up and down of 36 circle center line connectings.It avoids Y-direction tensioning wheel 37 from being interfered with Y-direction clamping device 18 with this and limits mobile platform 12 movement.

In the present embodiment, the Y-direction clamping device 18 include the fixed plate being fixedly connected with mobile platform 12 and with it is solid The movable plate that fixed board is threadedly coupled, the Y-direction belt 35 are clamped between fixed plate and movable plate, make activity using screw Plate shrinks to fixed plate and clamps Y-direction belt 35, on the side of the movable plate and/or fixed plate contact Y-direction belt 35 With teeth or skid resistance strip is set, increases the friction of movable plate and/or fixed plate and Y-direction belt 35 with this, prevents movable plate Y-direction skin The phenomenon that band 35 or fixed plate have skidded with Y-direction belt 35.In the present embodiment, other parts not described and above-described embodiment Content it is identical, therefore do not repeat.

Embodiment 12：

On the basis of the above embodiments, in the present embodiment, the Y-direction belt support frame 31 is designed as L-type and opening court The transverse slat of interior setting, the Y-direction holder idler wheel 19 and Y-direction belt support frame 31, which rolls, to be connected, and is set on the mobile platform 12 Be equipped with several Y-direction support wheels 110, the Y-direction support wheel 110 be distributed in the opposite both sides of mobile platform 12 and with Y-direction branch Frame idler wheel 19 is located at the same side, and the maximum spacing of the Y-direction support wheel 110 of opposite sides is more than the Y-direction holder idler wheel of opposite sides 19 maximum spacing, and the maximum spacing of the Y-direction support wheel 110 of opposite sides is made to be equal to 31 vertical face of Y-direction belt support frame Spacing enables Y-direction support wheel 110 to be rolled with 31 vertical face of Y-direction belt support frame and connects with this.Utilize 110 energy of Y-direction support wheel The case where enough playing the role of limiting mobile platform 12, preventing mobile platform 12 from swinging in the process of moving.This reality It applies in example, other parts not described are identical as the content of above-described embodiment, therefore do not repeat.

The above is only the preferred embodiment of the utility model, not does limit in any form to the utility model System, any simple modification made by the above technical examples according to the technical essence of the present invention, equivalent variations, each falls within Within the scope of protection of the utility model.

Claims (10)

1. a kind of manipulator with single chassis mobile platform, including holder（11）, be arranged in holder（11）On driving chain （13）, be slidably mounted on holder（11）On mobile platform（12）With setting in mobile platform（12）Upper and and driving chain（13） The drive sprocket of engagement（14）, it is characterised in that：The drive sprocket（14）Positioned at driving chain（13）With holder（11）It Between, drive sprocket（14）The center of circle and holder（11）Distance be more than drive sprocket（14）Radius, the mobile platform（12） On be provided with positioned at drive sprocket（14）Top and and driving chain（13）The A driven sprockets of engagement（15）, the A driven chains Wheel（15）With drive sprocket（14）It is located at driving chain（13）Both sides；The mobile platform（12）Lower section be provided with Suction cup assembly, the Suction cup assembly include and holder（11）The mounting base of connection（25）, be arranged in mounting base（25）On peace Fill holder（26）, several be mounted on mounting bracket（26）It is upper and can realize the control mechanism linearly driven and The sucker being sequentially connected with control mechanism（28）；The control mechanism includes A control mechanisms（29）It is more than A control machines with stroke Structure（29）B control mechanisms（210）；

The mobile platform（12）It is connected with Y-direction driving mechanism；The Y-direction driving mechanism includes two Y-direction belt support frames （31）, be separately positioned on Y-direction belt support frame（31）On Y-direction driving pulley（34）With Y-direction driven pulley（36）, respectively with Y-direction Driving pulley（34）With Y-direction driven pulley（36）The Y-direction belt of drive connection（35）With with Y-direction driving pulley（34）It is sequentially connected Y-direction motor（32）；The mobile platform（12）On be provided with for Y-direction belt to be clamped（35）Y-direction clamping device（18） With with Y-direction belt support frame（31）Roll the Y-direction holder idler wheel of connection（19）.

2. a kind of manipulator with single chassis mobile platform according to claim 1, it is characterised in that：The movement Platform（12）On be provided with positioned at drive sprocket（14）Lower section and and driving chain（13）The B driven sprockets of engagement（16）, described B driven sprockets（16）With drive sprocket（14）It is located at driving chain（13）Both sides.

3. a kind of manipulator with single chassis mobile platform according to claim 2, it is characterised in that：The A from Movable sprocket（15）Cornerite be greater than or equal to 90 °；B driven sprockets（16）Cornerite be greater than or equal to 90 °.

4. a kind of manipulator with single chassis mobile platform according to claim 1,2, any one of 3, feature exist In：The holder（11）On be provided with for installing driving chain（13）Chain；It is useful in the chain pair Driving chain（13）The limited block limited.

5. a kind of manipulator with single chassis mobile platform according to claim 4, it is characterised in that：The movement Platform（12）It is distributed in holder in a ring（11）Outside, mobile platform（12）On be provided with several and be distributed in holder in a ring （11）Surrounding and and holder（11）Roll the idler wheel of connection（17）；Mobile platform（12）On be provided with drive sprocket rotation sprocket wheel Driving mechanism.

6. a kind of manipulator with single chassis mobile platform according to claim 1,2,3, any one of 5, feature It is：The sucker（28）It is uniformly distributed by array, B control mechanisms（210）There are two settings and diagonal distribution.

7. a kind of manipulator with single chassis mobile platform according to claim 6, it is characterised in that：The installation Seat（25）With holder（11）Between be provided with and holder（11）Connection and the control cabinet for capableing of output torque（22）, the control Case（22）It is sequentially connected with shaft（24）, the shaft（24）With mounting base（25）Connection, the control cabinet（22）Transmission It is connected with driving motor（21）, the control cabinet（22）It is inside provided with and is connected to shaft（24）With driving motor（21）Output shaft Between belt（23）.

8. a kind of manipulator with single chassis mobile platform according to claim 1,2,3,5, any one of 7, special Sign is：The sucker（28）For vacuum cup, the sucker（28）On be provided with it is true for what is be connected to evacuator Suction pipe（27）.

9. a kind of manipulator with single chassis mobile platform according to claim 1,2,3,5, any one of 7, special Sign is：Two Y-direction belt support frames（31）Between connection there are two Y-direction connecting bracket（38）；Two Y-direction skins Belt supporting frame（31）On Y-direction driving pulley（34）Pass through Y-direction connecting shaft（33）Coaxially connected, described Y-direction motor（32）Setting In Y-direction connecting bracket（38）It is upper and with Y-direction connecting shaft（33）It is sequentially connected.

10. a kind of manipulator with single chassis mobile platform according to claim 9, it is characterised in that：The Y-direction Belt support frame（31）On be provided with and Y-direction belt（35）The Y-direction tensioning wheel of drive connection（37）.