CN208451641U - A kind of manipulator - Google Patents
A kind of manipulator Download PDFInfo
- Publication number
- CN208451641U CN208451641U CN201821172756.4U CN201821172756U CN208451641U CN 208451641 U CN208451641 U CN 208451641U CN 201821172756 U CN201821172756 U CN 201821172756U CN 208451641 U CN208451641 U CN 208451641U
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- motor
- actuating arm
- arm
- driving mechanism
- pickup folder
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Abstract
The utility model discloses a kind of manipulators, including installing arm, actuating arm, pickup folder, the first driving mechanism and the second driving mechanism, pickup folder to be fixed in the bottom end of actuating arm；Actuating arm is articulated in installing arm and can move along vertical axis direction；First driving mechanism is for driving actuating arm to rotate around vertical axes, and the second driving mechanism is for driving actuating arm to move along vertical axis direction；First driving mechanism includes first motor, screw rod, nut and link block, and the body of first motor is mounted in installing arm, and screw rod extends along vertical axis direction and connection synchronous with the shaft of first motor；Nut thread is set in outside screw rod；One end of link block and nut are affixed；The other end of link block and actuating arm are affixed；Second driving mechanism includes the second motor, actuating arm connection synchronous with the shaft of the second motor；Actuating arm passes through the connection synchronous with pickup folder of deceleration mechanism.The pickup folder up and down motion precision of the utility model is controllable, and each slewing area of pickup folder is controllable.
Description
Technical field
The utility model relates to mechanical equipment technical field more particularly to a kind of manipulators.
Background technique
It clamps workpiece currently, manipulator is for general in mechanical processing process and drives its rotation, mainly pass through machine
The upper and lower of tool hand, front and rear, left and right move to realize.But the movement travel of existing manipulator is generally large, in control stroke
Range and precision aspect are poor, cause the efficiency for clamping workpiece lower.
Utility model content
For overcome the deficiencies in the prior art, the purpose of this utility model is to provide a kind of manipulator, pickup folder
Up and down motion can be driven by lead screw transmission mechanism, and up and down motion precision is controllable, and be driven in such a way that motor cooperates deceleration mechanism
Dynamic pickup folder rotation, keeps each slewing area of pickup folder controllable.
The purpose of this utility model is implemented with the following technical solutions:
A kind of manipulator, including installing arm, actuating arm, pickup folder, the first driving mechanism and the second driving mechanism, clamping
Part is fixed in the bottom end of actuating arm；Actuating arm is articulated in installing arm and can move along vertical axis direction；First driving mechanism is used
In driving actuating arm to rotate around vertical axes, the second driving mechanism is for driving actuating arm to move along vertical axis direction；
First driving mechanism includes first motor, screw rod, nut and link block, and the body of first motor is mounted on installation
On arm, screw rod extends along the vertical axis direction and connection synchronous with the shaft of first motor；Nut thread is set in outside screw rod
Portion；One end of link block and nut are affixed；The other end of link block and actuating arm are affixed；
Second driving mechanism includes the second motor, actuating arm connection synchronous with the shaft of the second motor；Actuating arm is by subtracting
The connection synchronous with pickup folder of fast mechanism.
Preferably, the first driving mechanism further includes the first synchronous belt and two the first synchronizing wheels, one of them is first same
Step wheel is articulated in that shaft in installing arm and with first motor is synchronous to be coupled；Another first synchronizing wheel is articulated in installing arm simultaneously
It is fixed in the bottom end of screw rod；First synchronous belt, which synchronizes, to be set around outside two the first synchronizing wheels.
Preferably, the second driving mechanism further includes the second synchronous belt and two the second synchronizing wheels, one of them is second same
Step wheel is articulated in installing arm and connection synchronous with the shaft of the second motor；Another second synchronizing wheel be articulated in installing arm with
The synchronous connection of actuating arm；Second synchronous belt, which synchronizes, to be set around outside two the second synchronizing wheels.
Preferably, deceleration mechanism is harmonic speed reducer, and harmonic speed reducer is mounted in installing arm, and actuating arm passes through described humorous
The connection synchronous with pickup folder of wave retarder.
Preferably, pickup folder includes mounting rack and vacuum chuck component, and mounting rack is fixed in the bottom end of actuating arm；Installation
Frame is equipped with third motor, and the shaft and vacuum chuck component of third motor are affixed and for driving vacuum chuck component around level
Axis rotation.
Preferably, vacuum chuck component includes fixed plate and multiple vacuum chucks, the shaft of fixed plate and third motor
It is fixed；Multiple vacuum chucks are fixed in fixed plate.
Preferably, installing arm is equipped with organ shield, and organ shield covers at the outside of deceleration mechanism；Organ protection
One end of cover is fixed with installing arm；The other end of organ shield is connect with pickup folder.
Compared with prior art, the utility model has the beneficial effects that: the up and down motion of its pickup folder can be passed by screw rod
Motivation structure, due to being threadedly engaged between screw rod and nut, can be realized Fine Feed, thus its upper and lower kinematic accuracy by driving
It is higher, and drive pickup folder to rotate in such a way that motor cooperates deceleration mechanism, even if pickup folder velocity of rotation is lower, make pickup folder
Primary slewing area is smaller, i.e., slewing area is controllable.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model.
In figure: 10, installing arm；20, the first driving mechanism；21, first motor；22, the first synchronizing wheel；23, first is synchronous
Band；24, screw rod；25, nut；26, link block；30, the second driving mechanism；31, the second motor；32, the second synchronizing wheel；33,
Two synchronous belts；40, actuating arm；50, deceleration mechanism；60, pickup folder；61, mounting rack；62, vacuum chuck；63, third motor；
64, fixed plate.
Specific embodiment
In the following, being described further in conjunction with attached drawing and specific embodiment to the utility model:
A kind of manipulator as shown in Figure 1, including installing arm 10, actuating arm 40, pickup folder 60, the first driving mechanism 20 with
And second driving mechanism 30, pickup folder 60 are fixed in the bottom end of actuating arm 40, which is articulated in installing arm 10 and can
It is moved along vertical axis direction, actuating arm 40 can be rotated around vertical axes under the drive of the first driving mechanism 20, in the second driving machine
Actuating arm 40 is moved along vertical axis direction under the drive of structure 30, that is, is moved up and down.
Specific first driving mechanism 20 includes first motor 21, screw rod 24, nut 25 and link block 26, first motor 21
Body be mounted in installing arm 10, screw rod 24 along vertical axis direction extend and it is synchronous with the shaft of first motor 21 couple, and
25 thread set of nut is outside screw rod 24；One end of link block 26 and nut 25 are affixed；The other end of link block 26 and driving
Arm 40 is affixed.In addition, the second driving mechanism 30 includes the second motor 31, actuating arm 40 is synchronous with the shaft of the second motor 31
It connects；Actuating arm 40 passes through the connection synchronous with pickup folder 60 of deceleration mechanism 50.
It, can when driving pickup folder 60 to move up and down when on the basis of the said structure, using the manipulator of the utility model
Start first motor 21, first motor 21 rotation can screw rod 24 rotate, screw rod 24 rotation can drive the spiral shell being threadedly engaged therewith
Mother 25 moves up and down along the extending direction of screw rod 24, and then drives and transported with it by about 40 actuating arm that link block 26 is connect
Dynamic, pickup folder 60 can move up and down under the drive of actuating arm 40, and pickup folder 60, which moves up and down, can be achieved the pick-and-place of workpiece.And
Due to being threadedly engaged between screw rod 24 and nut 25, Fine Feed can be realized, thus its upper and lower kinematic accuracy is higher.In addition,
When driving pickup folder 60 to rotate, start the second motor 31, the second motor 31 can drive actuating arm 40 to rotate, and actuating arm 40 rotates
Pickup folder 60 can be driven to rotate, 60 rotational motion of pickup folder can make pickup folder 60 clamp workpiece in different angle.And the present embodiment
In by motor cooperate deceleration mechanism 50 in a manner of drive pickup folder 60 rotate, even if 60 velocity of rotation of pickup folder is lower, make to clamp
The primary slewing area of part 60 is smaller, i.e., slewing area is controllable.
Preferably, the first above-mentioned driving mechanism 20 further includes the first synchronous belt 23 and two the first synchronizing wheels 22,
In first synchronizing wheel 22 be articulated in installing arm 10 and it is synchronous with the shaft of first motor 21 connection；Another first synchronization
Wheel 22 is articulated in installing arm 10 and is fixed in the bottom end of screw rod 24；First synchronous belt 23, which synchronizes, is set around two the first synchronizing wheels
Outside 22.In this way, the shaft of first motor 21 can drive one of them first synchronizing wheel 22 to rotate, the rotation of first synchronizing wheel 22
Movement can be driven by the first synchronous belt 23, drive another first synchronizing wheel 22 affixed with screw rod 24 to rotate, and then drive screw rod
24 rotations drive screw rod 24 to rotate, its structure can be made steady by way of first synchronizing wheel 22 and the transmission of the first synchronous belt 23
It is fixed.
Likewise, the second above-mentioned driving mechanism 30 further includes the second synchronous belt 33 and two the second synchronizing wheels 32,
In second synchronizing wheel 32 be articulated in installing arm 10 and it is synchronous with the shaft of the second motor 31 connection；Another second synchronization
Wheel 32 is articulated in connection synchronous with actuating arm 40 in installing arm 10；Second synchronous belt 33, which synchronizes, is set around two the second synchronizing wheels 32
Outside.In this way, the shaft rotation of the second motor 31 can drive one of them second synchronizing wheel 32 to rotate, which turns
Dynamic movement can be driven by the second synchronous belt 33, drive the second synchronizing wheel 32 rotation of another connection synchronous with actuating arm 40, thus
It drives actuating arm 40 to rotate, drives 40 turns of above-mentioned actuating arm by way of second synchronizing wheel 32 and the transmission of the second synchronous belt 33
It is dynamic, its stable structure can be made.
Preferably, the deceleration mechanism 50 in the present embodiment can be selected as harmonic speed reducer, and harmonic speed reducer is mounted on installation
On arm 10, actuating arm 40 is by harmonic speed reducer connection synchronous with pickup folder 60, and compared with common gear reduction unit, harmonic wave subtracts
Fast device has the advantages that high-precision, high-bearing capacity, and volume and weight are smaller, reduces installation space, and can be further
Improve machining accuracy.Certainly, coupling for the ease of actuating arm 40 and harmonic speed reducer, the actuating arm 40 in the present embodiment is optional
With splined shaft, the spline tooth on splined shaft, which can be worn, to be connected in harmonic speed reducer and links with the driving link of harmonic speed reducer.
In addition, in other cases, gear reduction 50 in the prior art also can be selected in above-mentioned deceleration mechanism 50
Or turbine and worm decelerator 50 is replaced.
Preferably, the pickup folder 60 in the present embodiment includes 62 component of mounting rack 61 and vacuum chuck, and mounting rack 61 is solid
It is connected to the bottom end of actuating arm 40, third motor 63, the shaft and vacuum chuck of third motor 63 are specifically equipped on mounting rack 61
62 components are affixed, and under the drive of third motor 63,62 component of vacuum chuck can be rotated around trunnion axis.In this way, in pickup folder 60
After grabbing workpiece, the rotation of 62 component of vacuum chuck can be driven by third motor 63, can be driven on 62 component of vacuum chuck
Workpiece carry out overturning certain angle, for example in glass screen manufacture field, need to overturn glass screen by horizontality
To vertical state.The use scope of the manipulator can be made wider.And Suction cup assembly is driven to be turned over relative to driving cylinder
Turn, directly being driven by motor has the characteristics that situation that is high-precision, and can preventing stuck.
More particularly, above-mentioned 62 component of vacuum chuck includes fixed plate 64 and multiple vacuum chucks 62, fixed plate
64 fix with the shaft of third motor 63；Multiple vacuum chucks 62 are fixed in fixed plate 64, and multiple vacuum chucks 62 can pass through
Tracheae is connected to external vacuum evacuation device, realizes vacuum chuck 62, avoids damaging workpiece during clamping.
Preferably, organ shield can be also equipped in installing arm 10, organ shield covers at the outer of deceleration mechanism 50
Portion；One end of organ shield and installing arm 10 are fixed；The other end of organ shield is connect with pickup folder 60.In this way, the wind
Qin shield can protect deceleration mechanism 50, and its organ shield can be upper and lower and flexible with actuating arm 40, will not
The movement of actuating arm 40 is impacted.
It will be apparent to those skilled in the art that can make various other according to the above description of the technical scheme and ideas
Corresponding change and deformation, and all these changes and deformation all should belong to the protection of the utility model claims
Within the scope of.
Claims (7)
1. a kind of manipulator, which is characterized in that including installing arm, actuating arm, pickup folder, the first driving mechanism and the second driving
Mechanism, pickup folder are fixed in the bottom end of actuating arm；Actuating arm is articulated in installing arm and can move along vertical axis direction；First drives
Motivation structure is for driving actuating arm to rotate around vertical axes, and the second driving mechanism is for driving actuating arm to move along vertical axis direction；
First driving mechanism includes first motor, screw rod, nut and link block, and the body of first motor is mounted on installing arm
On, screw rod extends along the vertical axis direction and connection synchronous with the shaft of first motor；Nut thread is set in outside screw rod；
One end of link block and nut are affixed；The other end of link block and actuating arm are affixed；
Second driving mechanism includes the second motor, actuating arm connection synchronous with the shaft of the second motor；Actuating arm passes through speed reducer
Structure connection synchronous with pickup folder.
2. manipulator as described in claim 1, which is characterized in that the first driving mechanism further includes the first synchronous belt and two
First synchronizing wheel, one of them first synchronizing wheel be articulated in the shaft in installing arm and with first motor it is synchronous connection；Another
First synchronizing wheel is articulated in the bottom end in installing arm and being fixed in screw rod；First synchronous belt, which synchronizes, is set around two the first synchronizing wheels
Outside.
3. manipulator as described in claim 1, which is characterized in that the second driving mechanism further includes the second synchronous belt and two
Second synchronizing wheel, one of them second synchronizing wheel is articulated in installing arm and connection synchronous with the shaft of the second motor；Another
Second synchronizing wheel is articulated in installing arm connection synchronous with actuating arm；Second synchronous belt, which synchronizes, is set around two the second synchronizing wheels
Outside.
4. manipulator as described in claim 1, which is characterized in that deceleration mechanism is harmonic speed reducer, harmonic speed reducer installation
In installing arm, actuating arm passes through harmonic speed reducer connection synchronous with pickup folder.
5. manipulator according to any one of claims 1-4, which is characterized in that pickup folder includes mounting rack and vacuum chuck
Component, mounting rack are fixed in the bottom end of actuating arm；Mounting rack is equipped with third motor, the shaft and vacuum chuck group of third motor
Part is affixed and for driving vacuum chuck component to rotate around trunnion axis.
6. manipulator as claimed in claim 5, which is characterized in that vacuum chuck component includes that fixed plate and multiple vacuum are inhaled
Disk, fixed plate and the shaft of third motor are fixed；Multiple vacuum chucks are fixed in fixed plate.
7. manipulator according to any one of claims 1-4, which is characterized in that installing arm is equipped with organ shield, organ
Shield covers at the outside of deceleration mechanism；One end of organ shield is fixed with installing arm；The other end of organ shield with
Pickup folder connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821172756.4U CN208451641U (en) | 2018-07-23 | 2018-07-23 | A kind of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821172756.4U CN208451641U (en) | 2018-07-23 | 2018-07-23 | A kind of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208451641U true CN208451641U (en) | 2019-02-01 |
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ID=65179958
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821172756.4U Active CN208451641U (en) | 2018-07-23 | 2018-07-23 | A kind of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208451641U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114368619A (en) * | 2022-01-05 | 2022-04-19 | 深圳市智信精密仪器股份有限公司 | High-efficiency low-cost two-axis movement mechanism |
-
2018
- 2018-07-23 CN CN201821172756.4U patent/CN208451641U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114368619A (en) * | 2022-01-05 | 2022-04-19 | 深圳市智信精密仪器股份有限公司 | High-efficiency low-cost two-axis movement mechanism |
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