CN208451630U - A kind of full-automatic manipulator - Google Patents
A kind of full-automatic manipulator Download PDFInfo
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- CN208451630U CN208451630U CN201820626578.1U CN201820626578U CN208451630U CN 208451630 U CN208451630 U CN 208451630U CN 201820626578 U CN201820626578 U CN 201820626578U CN 208451630 U CN208451630 U CN 208451630U
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- pedestal
- linking
- frame
- motor
- pulley
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Abstract
The utility model discloses a kind of full-automatic manipulators, its structure includes construction nozzle, steering wheel, telescopic oil cylinder, it is connected joint, additional reinforcement bracket, servo motor, main support movable frame, it is connected pedestal, power data connector, rotating mechanism, the utility model rotating mechanism inner drive shafts are equipped with driven gear, driving gear is equipped at left and right sides of driven gear, driving gear passes through motor driven operation and is meshed with driven gear, frame roof is uniformly equidistantly equipped with pulley and fits with load-bearing rotation pan bottom, Dual-motors Driving cooperation pulley can be improved the reaction speed and sensitivity of load-bearing rotation disc spins, it reduces turning error and load-bearing capacity is stronger.
Description
Technical field
The utility model is a kind of full-automatic manipulator, belongs to industry mechanical arm field.
Background technique
Industrial machinery arm is the Mechatronic device of anthropomorphic arm, wrist and hand function.Anthropomorphic arm, wrist and hand function
Mechatronic device;It can spatially the time-varying of pose (position and posture) requires to be moved any object or tool,
To complete a certain industrial job requirements.Soldering turret or welding gun are such as clamped, spot welding has been carried out to automobile or body of motor cycle
Or arc-welding;Carry die casting or stamping forming part or component;It is cut by laser;Spraying;Make-up machinery components etc..
The prior art industry mechanical arm steering mechanism initial start revolving reaction time is longer, is easy to be judged as manipulator
Failure and construction operation sensitivity is not high.
Utility model content
In view of the deficienciess of the prior art, the utility model aim is to provide a kind of full-automatic manipulator, with solution
Certainly the industry mechanical arm steering mechanism initial start revolving reaction time is longer, is easy to be judged as robotic failure and construction operation
The not high problem of sensitivity.
To achieve the goals above, the utility model is achieved through the following technical solutions: a kind of full-automatic
Manipulator, structure include construction nozzle, steering wheel, telescopic oil cylinder, linking joint, additional reinforcement bracket, servo motor, main branch
Adjustable shelf, linking pedestal, power data connector, rotating mechanism are supportted, the rotating mechanism top center is equipped with linking bottom
Seat, the linking pedestal, the linking pedestal and rotating mechanism are connected using interference, and the linking pedestal top is equipped with
Main support movable frame, the main support movable frame are fastened on linking pedestal, described main support movable frame or so two
Side is equipped with servo motor, and the servo motor is fixed by screws on main support movable frame outer wall and cooperating therewith, institute
The main support movable frame top stated is equipped with linking joint, and the main support movable frame and linking joint are gap-matched, institute
The main support movable frame rear end stated is equipped with additional reinforcement bracket, and the additional reinforcement bracket upper and lower ends are separately fixed at linking
On joint and main support movable frame, the linking joint top is equipped with telescopic oil cylinder, and the telescopic oil cylinder is vertically fixed on
It is connected on joint, the telescopic oil cylinder top is equipped with steering wheel, and the steering wheel and telescopic oil cylinder are gap-matched, institute
The steering wheel surface stated is equipped with construction nozzle, and the construction nozzle is fastened on the steering wheel；
The rotating mechanism is by driven gear, transmission shaft, pulley, load-bearing rotation disk, bolt, pulley bracket, frame, master
Moving gear, shaft, motor, pedestal, bearing composition, the base top center are equipped with frame, and the frame fastens
It is fixed on susceptor surface upper groove, the lower portion center is equipped with transmission shaft, the transmission shaft upper and lower ends
It is respectively equipped with load-bearing rotation disk and bearing, the load-bearing rotation disk is fastened on transmission shaft top, and the transmission shaft is logical
It crosses bearing to be fixed on susceptor surface center, pulley, the cunning is uniformly equidistantly equipped on the frame roof surface
Wheel is fixed on pulley bracket by bolt, and the pulley bracket and frame are using interference fit, the pulley and load-bearing
Rotating disk matches, and the transmission shaft is equipped with driven gear, and the driven gear is fastened on transmission shaft, described
Transmission shaft at left and right sides of be equipped with motor, the motor is vertically fixed on pedestal, and the motor top center is set
There is shaft, the shaft and motor are gap-matched, and driving gear, the driving gear are equipped at the top of the shaft
It is fastened in shaft, the motor is meshed by driving gear with driven gear.
Further, the power data connector is connected to motor by conducting wire through frame.
Further, the frame is hollow cylinder structure, good heat dissipation effect, the high feature of space utilization rate.
Further, the load-bearing rotation disk is circular configuration and surface is equipped with linking pedestal fixed groove.
Further, the base bottom further includes antiskid rubber and top surface is close to be fixed on base end face.
Further, the servo motor can make to control speed, and position precision is very accurate, voltage signal can be turned
Torque and revolving speed are turned to drive control object.Servo motor rotor revolving speed is controlled by input signal, and energy fast reaction, certainly
In autocontrol system, it is used as executive component, and there are the characteristics such as electromechanical time constant small, the linearity is high, pickup voltage, it can be institute
The electric signal received is converted into angular displacement or angular speed output on motor reel.It is divided into direct current and AC servomotor two is big
Class is mainly characterized by, when signal voltage is zero without rotation phenomenon, revolving speed uniform descent with the increase of torque.
Beneficial effect
The utility model rotating mechanism inner drive shafts are equipped with driven gear, are equipped with driving tooth at left and right sides of driven gear
Wheel, driving gear pass through motor driven operation and is meshed with driven gear, frame roof uniformly equidistantly equipped with pulley and with hold
Respin turntable bottom fits, and Dual-motors Driving cooperation pulley can be improved the reaction speed of load-bearing rotation disc spins and sensitive
Degree, reduces turning error and load-bearing capacity is stronger.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other spies of the utility model
Sign, objects and advantages will become more apparent upon:
Fig. 1 is a kind of structural schematic diagram of full-automatic manipulator of the utility model.
Fig. 2 is a kind of rotating mechanism structural schematic diagram of full-automatic manipulator of the utility model.
In figure: construction nozzle -1, steering wheel -2, telescopic oil cylinder -3, linking joint -4, additional reinforcement bracket -5, servo electricity
Machine -6, main support movable frame -7, linking pedestal -8, power data connector -9, rotating mechanism -10, driven gear -1001, transmission
Axis -1002, pulley -1003, load-bearing rotation disk -1004, bolt -1005, pulley bracket -1006, frame -1007, driving gear -
1008, shaft -1009, motor -10010, pedestal -10011, bearing -10012.
Specific embodiment
To be easy to understand the technical means, creative features, achievement of purpose, and effectiveness of the utility model, below
In conjunction with specific embodiment, the utility model is further described.
Embodiment
Please refer to Fig. 1-Fig. 2, the utility model provides a kind of full-automatic manipulator, structure include construction nozzle 1,
Steering wheel 2, telescopic oil cylinder 3, linking joint 4, additional reinforcement bracket 5, servo motor 6, main support movable frame 7, linking pedestal 8,
Power data connector 9, rotating mechanism 10,10 top center of rotating mechanism are equipped with linking pedestal 8, the linking
Pedestal 8, the linking pedestal 8 and rotating mechanism 10 are connected using interference, and 8 top of linking pedestal is lived equipped with main support
Moving frame 7, the main support movable frame 7 are fastened on linking pedestal 8, set at left and right sides of the main support movable frame 7
Have a servo motor 6, the servo motor 6 be fixed by screws in it is on main 7 outer wall of support movable frame and cooperating therewith, it is described
7 top of main support movable frame be equipped with linking joint 4, the main support movable frame 7 and linking joint 4 be gap-matched,
7 rear end of main support movable frame is equipped with additional reinforcement bracket 5, and 5 upper and lower ends of additional reinforcement bracket are fixed respectively
On linking joint 4 and main support movable frame 7,4 top of linking joint is equipped with telescopic oil cylinder 3, the telescopic oil cylinder 3
It is vertically fixed on linking joint 4,3 top of telescopic oil cylinder is equipped with steering wheel 2, the steering wheel 2 and telescopic oil cylinder 3
It is gap-matched, 2 surface of steering wheel is equipped with construction nozzle 1, and the construction nozzle 1 is fastened in steering wheel
On 2；The rotating mechanism 10 is by driven gear 1001, transmission shaft 1002, pulley 1003, load-bearing rotation disk 1004, bolt
1005, pulley bracket 1006, frame 1007, driving gear 1008, shaft 1009, motor 10010, pedestal 10011, bearing
10012 compositions, 10011 top center of pedestal are equipped with frame 1007, and the frame 1007 is fastened the bottom of at
On 10011 surface upper grooves of seat, 1007 inner hub location of frame is equipped with transmission shaft 1002, the transmission shaft 1002
Upper and lower ends are respectively equipped with load-bearing rotation disk 1004 and bearing 10012, and the load-bearing rotation disk 1004, which is fastened, to be driven
1002 top of axis, the transmission shaft 1002 is fixed on 10011 centre of surface position of pedestal by bearing 10012, described
Pulley 1003 is uniformly equidistantly equipped on 1007 top surface of frame, the pulley 1003 is fixed on pulley branch by bolt 1005
On frame 1006, the pulley bracket 1006 and frame 1007 are using interference fit, the pulley 1003 and load-bearing rotation disk
1004 match, and the transmission shaft 1002 is equipped with driven gear 1001, and the driven gear 1001, which is fastened, to be passed
On moving axis 1002, motor 10010 is equipped at left and right sides of the transmission shaft 1002, the motor 10010 is vertically fixed on bottom
On seat 10011,10010 top center of motor is equipped with shaft 1009, and the shaft 1009 and motor 10010 are adopted
With clearance fit, driving gear 1008 is equipped at the top of the shaft 1009, the driving gear 1008, which is fastened, to be turned
On axis 1009, the motor 10010 is meshed by driving gear 1008 with driven gear 1001, and the power data connects
First 9 are connect through frame 1007 with motor 10010 by conducting wire, and the frame 1007 is hollow cylinder structure, heat dissipation effect
Fruit is good, the high feature of space utilization rate, and the load-bearing rotation disk 1004 is circular configuration and surface is equipped with linking pedestal 8 and fixes
Groove, 10011 bottom of pedestal further includes antiskid rubber and top surface is close to be fixed on 10011 bottom surface of pedestal, described
Servo motor 6 can make to control speed, and position precision is very accurate, can convert voltage signal to torque and revolving speed to drive control
Object processed.Servo motor rotor revolving speed is controlled by input signal, and energy fast reaction is used as and executes in automatic control system
Element, and there are the characteristics such as electromechanical time constant small, the linearity is high, pickup voltage, the electric signal received can be converted into electricity
Angular displacement or angular speed output on motivation axis.It is divided into direct current and AC servomotor two major classes, is mainly characterized by, works as letter
Without rotation phenomenon, revolving speed uniform descent with the increase of torque when number voltage is zero.
The principles of the present invention:
Rotating mechanism 10 is connect by being connected pedestal 8 with main support movable frame 7, on 10 inner drive shafts 1002 of rotating mechanism
Equipped with driven gear 1001, it is equipped with driving gear 1008 at left and right sides of driven gear 1001, driving gear 1008 passes through motor
10010 drive operations and are meshed with driven gear 1001, and 1007 top of frame is uniformly equidistantly equipped with pulley 1003 and and load-bearing
1004 bottom of rotating disk fits, and Dual-motors Driving cooperation pulley 1003 can be improved the reaction speed of the rotation of load-bearing rotation disk 1004
Degree and sensitivity, reduce turning error and load-bearing capacity is stronger.
Pulley 1003 also known as idler wheel described in the utility model, one kind of sports apparatus, by several iron rods balance connection two
The identical iron hoop of a size is made.
Its structure of the utility model and principle are all that this technology personnel can be learnt by technical manual or by conventional real
Proved recipe method knows, the utility model solves the problems, such as when being prior art industry mechanical arm steering mechanism initial start revolving reaction
Between it is longer, be easy to be judged as robotic failure and construction operation sensitivity be not high, the utility model is mutual by above-mentioned component
It is combined, 10 inner drive shafts 1002 of the utility model rotating mechanism are equipped with driven gear 1001, driven gear 1001 or so
Two sides are equipped with driving gear 1008, and driving gear 1008 drives operation by motor 10010 and is meshed with driven gear 1001,
1007 top of frame is uniformly equidistantly equipped with pulley 1003 and fits with 1004 bottom of load-bearing rotation disk, and Dual-motors Driving cooperation is slided
Wheel 1003 can be improved the reaction speed and sensitivity of the rotation of load-bearing rotation disk 1004, reduce turning error and load-bearing capacity more
By force.
The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above, for
For those skilled in the art, it is clear that the present invention is not limited to the details of the above exemplary embodiments, and without departing substantially from this
In the case where the spirit or essential attributes of utility model, the utility model can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the utility model is by institute
Attached claim rather than above description limit, it is intended that will fall within the meaning and scope of the equivalent elements of the claims
All changes are embraced therein.It should not treat any reference in the claims as limiting related right
It is required that.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (5)
1. a kind of full-automatic manipulator, structure includes construction nozzle (1), steering wheel (2), telescopic oil cylinder (3), linking pass
Save (4), additional reinforcement bracket (5), servo motor (6), main support movable frame (7), linking pedestal (8), power data connector
(9), rotating mechanism (10), the rotating mechanism (10) top center are equipped with linking pedestal (8), the linking pedestal
(8), the linking pedestal (8) is connected with rotating mechanism (10) using interference, and linking pedestal (8) top is equipped with main branch
It supports adjustable shelf (7), the main support movable frame (7) is fastened in linking pedestal (8), the main support movable frame
(7) left and right sides is equipped with servo motor (6), and the servo motor (6) is fixed by screws in main support movable frame (7) outer wall
Upper and cooperating therewith, main support movable frame (7) top is equipped with linking joint (4), the main support movable frame (7)
It is gap-matched with linking joint (4), main support movable frame (7) rear end is equipped with additional reinforcement bracket (5), described
Additional reinforcement bracket (5) upper and lower ends are separately fixed on linking joint (4) and main support movable frame (7), and the linking is closed
It saves (4) top and is equipped with telescopic oil cylinder (3), the telescopic oil cylinder (3) is vertically fixed in linking joint (4), and described is flexible
Oil cylinder (3) top is equipped with steering wheel (2), and the steering wheel (2) and telescopic oil cylinder (3) are gap-matched, the steering
Disk (2) surface is equipped with construction nozzle (1), and the construction nozzle (1) is fastened on steering wheel (2), it is characterised in that:
The rotating mechanism (10) is by driven gear (1001), transmission shaft (1002), pulley (1003), load-bearing rotation disk
(1004), bolt (1005), pulley bracket (1006), frame (1007), driving gear (1008), shaft (1009), motor
(10010), pedestal (10011), bearing (10012) composition, the pedestal (10011) top center are equipped with frame
(1007), the frame (1007) is fastened on the upper groove of pedestal (10011) surface, and the frame (1007) is internal
Center be equipped with transmission shaft (1002), the transmission shaft (1002) upper and lower ends be respectively equipped with load-bearing rotation disk (1004) and
Bearing (10012), the load-bearing rotation disk (1004) are fastened in transmission shaft (1002) top, the transmission shaft
(1002) it is fixed on pedestal (10011) centre of surface position by bearing (10012), the frame (1007) top surface
Upper to be uniformly equidistantly equipped with pulley (1003), the pulley (1003) is fixed on pulley bracket (1006) by bolt (1005)
On, the pulley bracket (1006) and frame (1007) are using interference fit, the pulley (1003) and load-bearing rotation disk
(1004) it matches, the transmission shaft (1002) is equipped with driven gear (1001), and the driven gear (1001) fastens
It is fixed on transmission shaft (1002), is equipped with motor (10010) at left and right sides of the transmission shaft (1002), the motor
(10010) it is vertically fixed on pedestal (10011), the motor (10010) top center is equipped with shaft (1009), institute
The shaft (1009) and motor (10010) stated are gap-matched, and driving gear is equipped at the top of the shaft (1009)
(1008), the driving gear (1008) is fastened on shaft (1009), and the motor (10010) passes through driving tooth
Wheel (1008) is meshed with driven gear (1001).
2. a kind of full-automatic manipulator according to claim 1, it is characterised in that: the power data connector
(9) it is connect through frame (1007) with motor (10010) by conducting wire.
3. a kind of full-automatic manipulator according to claim 1, it is characterised in that: during the frame (1007) is
Hollow cylinder structure.
4. a kind of full-automatic manipulator according to claim 1, it is characterised in that: the load-bearing rotation disk
(1004) be circular configuration and surface is equipped with linking pedestal (8) fixed groove.
5. a kind of full-automatic manipulator according to claim 1, it is characterised in that: described pedestal (10011) bottom
Portion further includes antiskid rubber and top surface is close to be fixed on pedestal (10011) bottom surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820626578.1U CN208451630U (en) | 2018-04-28 | 2018-04-28 | A kind of full-automatic manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820626578.1U CN208451630U (en) | 2018-04-28 | 2018-04-28 | A kind of full-automatic manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208451630U true CN208451630U (en) | 2019-02-01 |
Family
ID=65151979
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820626578.1U Active CN208451630U (en) | 2018-04-28 | 2018-04-28 | A kind of full-automatic manipulator |
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| Country | Link |
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| CN (1) | CN208451630U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109875780A (en) * | 2019-04-03 | 2019-06-14 | 李婷薇 | A kind of woman's production surgical medical tool car |
| CN110843343A (en) * | 2019-11-29 | 2020-02-28 | 张家港宏昌钢板有限公司 | Number spraying machine capable of automatically switching number spraying at high speed and low speed and number spraying method thereof |
| CN116276930A (en) * | 2023-03-08 | 2023-06-23 | 北京建筑大学 | Casting robot |
-
2018
- 2018-04-28 CN CN201820626578.1U patent/CN208451630U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109875780A (en) * | 2019-04-03 | 2019-06-14 | 李婷薇 | A kind of woman's production surgical medical tool car |
| CN110843343A (en) * | 2019-11-29 | 2020-02-28 | 张家港宏昌钢板有限公司 | Number spraying machine capable of automatically switching number spraying at high speed and low speed and number spraying method thereof |
| CN116276930A (en) * | 2023-03-08 | 2023-06-23 | 北京建筑大学 | Casting robot |
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Legal Events
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190507 Address after: 110102 Xuelian Street 10A, Sujiatun District, Shenyang City, Liaoning Province Patentee after: Shenyang Sanfeng Electrical Equipment Co., Ltd. Address before: 317 200 No. 22, Group 3, Shangxucun, Leifeng Township, Tiantai County, Taizhou City, Zhejiang Province Patentee before: Ding Liupeng |