CN208744832U - Planar manipulator support device - Google Patents
Planar manipulator support device Download PDFInfo
- Publication number
- CN208744832U CN208744832U CN201821437256.9U CN201821437256U CN208744832U CN 208744832 U CN208744832 U CN 208744832U CN 201821437256 U CN201821437256 U CN 201821437256U CN 208744832 U CN208744832 U CN 208744832U
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- China
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- clavicle
- screw rod
- sliding block
- supporting table
- ball axis
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Abstract
The utility model discloses planar manipulator support devices, including supporting table, chassis, clavicle active device and mounting base, the two sides of the supporting table bottom are connected with electric pushrod by resilient cushion, and the bottom of electric pushrod is equipped with chassis, two sides at the top of the supporting table are equipped with support rod, there is third clavicle sliding block in the middle position of the support rod by third clavicle screw rod ball axis connection, and there is clavicle active device in the inside of third clavicle sliding block by the second clavicle screw rod ball axis connection, the top of the clavicle active device is connected with clavicle ball by universal joint, the outer surface of the supporting table is provided with controller.The reciprocating mechanism that the utility model is made up of the second clavicle sliding block, clavicle mobile device, the second clavicle screw rod ball axis and second stepper motor mutual cooperation, realizes the accurate movement up and down of manipulator, manipulator is enable accurately to clamp required article.
Description
Technical field
The utility model relates to support device technical fields, specially planar manipulator support device.
Background technique
Manipulator is a kind of driving form suitable for close to body operation, and articulated manipulator has large arm and forearm to put
Dynamic and elbow joint and shoulder joint movement, with Arm structure, it can be achieved that the function of approximate manpower operation, manipulator are used for
In production line, the manual labor of people is discharged, being mostly used should be in high risk industries.
Existing planar manipulator support device is inconvenient to be installed, and it is low to be supported operating efficiency to manipulator,
Do not have the function being adjusted in installation manipulator according to desired height, and existing robot support device makes machinery yet
Hand can only move in the same plane, it is restricted to the stretching, extension of other aspects.
Utility model content
The purpose of this utility model is to provide a kind of cell recovery protective devices, to solve to propose in above-mentioned background technique
The problem of.
To achieve the above object, the utility model provides the following technical solutions: planar manipulator support device, including support
The two sides of platform, chassis, clavicle active device and mounting base, the supporting table bottom are connected with electric pushrod by resilient cushion,
And the bottom of electric pushrod is equipped with chassis, the two sides at the top of the supporting table are equipped with support rod, and the top on the inside of support rod
There is the first clavicle sliding block in portion by the 4th clavicle screw rod ball axis connection, and the middle position of the support rod passes through third clavicle silk
Bar ball axis connection has third clavicle sliding block, and there is lock in the inside of third clavicle sliding block by the second clavicle screw rod ball axis connection
Bone head, the side of the third clavicle sliding block is provided with second stepper motor, and the output shaft of second stepper motor prolongs
Inside and the second clavicle screw rod ball axis connection of third clavicle sliding block are extended to, third clavicle sliding block is interior at the top of the supporting table
Portion is evenly arranged with the first clavicle screw rod ball axis, and the top of the clavicle active device is connected with clavicle rolling by universal joint
Pearl, and mounting base is provided at the top of clavicle ball, synchronous belt mounting groove, the branch are installed on the outside of the mounting base
The outer surface of support platform is provided with controller, and controller is electrically connected with electric pushrod and second stepper motor respectively by conducting wire.
Preferably, the supporting table bottom is provided with an electric pushrod, and electric pushrod cooperates and constitutes elevating mechanism.
Preferably, the second clavicle sliding block is provided on the outside of the clavicle ball, and the second clavicle sliding block, clavicle active fill
It sets, the second clavicle screw rod ball axis and second stepper motor cooperate and constitute reciprocating mechanism.
Preferably, the first stepper motor is provided on the outside of the first clavicle screw rod ball axis, the first stepper motor is logical
Conducting wire and controller electrical connection are crossed, and the first stepper motor, the first clavicle screw rod ball axis and third clavicle sliding block cooperate
Constitute translation mechanism.
Preferably, the outer surface of the mounting base is provided with screw rod mounting groove and motor fixing groove, and screw rod mounting groove,
Motor fixing groove, synchronous belt mounting groove and mounting base, which cooperate, constitutes installing mechanism.
Compared with prior art, the utility model has the beneficial effects that the planar manipulator support device passes through supporting table
4 electric pushrods of bottom setting, and electric pushrod cooperates and constitutes elevating mechanism, realizes the height liter of support device
Drop avoids making installation be affected since support device height is improper；The second clavicle being arranged by the outside of clavicle ball
Sliding block, and the second clavicle sliding block, clavicle mobile device, the second clavicle screw rod ball axis and second stepper motor cooperate and constitute
Reciprocating mechanism realizes the accurate movement up and down of manipulator, manipulator is enable accurately to clamp required article；Pass through
First stepper motor of the outside setting of one clavicle screw rod ball axis, the first stepper motor are electrically connected by conducting wire and controller,
And first stepper motor, the first clavicle screw rod ball axis and third clavicle sliding block cooperate and constitute translation mechanism, realize machine
The parallel motion of tool hand, enables manipulator to carry out adjusting position as needed；The outer surface that the utility model passes through mounting base
The screw rod mounting groove and motor fixing groove of setting, and screw rod mounting groove, motor fixing groove, synchronous belt mounting groove and mounting base phase
Mutually cooperation constitutes installing mechanism, and the Fast Installation for realizing manipulator fixes, the time needed for reducing installation, very high effect
Rate.
Detailed description of the invention
Fig. 1 is the apparatus structure schematic diagram of the utility model；
Fig. 2 is the device side structure schematic view of the utility model；
Fig. 3 is enlarged structure schematic diagram at A in the utility model Fig. 1；
Fig. 4 is the device mounting base structural schematic diagram of the utility model；
Fig. 5 is the system block diagram of the utility model.
In figure: 1, support rod；2, controller；3, supporting table；4, electric pushrod；5, chassis；6, resilient cushion；7, the first clavicle
Screw rod ball axis；8, the second clavicle screw rod ball axis；9, second stepper motor；10, third clavicle screw rod ball axis；11, clavicle
Head；12, the first clavicle sliding block；13, the 4th clavicle screw rod ball axis；14, the first stepper motor；15, universal joint；16,
Clavicle ball；17, the second clavicle sliding block；18, mounting base；19, screw rod mounting groove；20, motor fixing groove；21, synchronous belt is pacified
Tankage；22, third clavicle sliding block.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
Please refer to Fig. 1-5, a kind of embodiment provided by the utility model: planar manipulator support device, including supporting table
3, the two sides of chassis 5, clavicle active device 11 and mounting base 18,3 bottom of supporting table are connected with electric pushrod by resilient cushion 6
4, the model of the electric pushrod 4 can be SLA10, and the motor of electric pushrod 4 drives a pair of of feed screw nut after The gear deceleration,
The rotation motion of motor is in line movement, putter action is completed using motor forward/backward rotation, passes through and change lever force brachium
Degree can increase or reduce stroke, and the bottom of electric pushrod 4 is equipped with chassis 5, and the two sides at 3 top of supporting table are equipped with branch
Strut 1, and the top of 1 inside of support rod is connected with the first clavicle sliding block 12, support rod 1 by the 4th clavicle screw rod ball axis 13
Middle position third clavicle sliding block 22, and the inside of third clavicle sliding block 22 are connected with by third clavicle screw rod ball axis 10
It is connected with clavicle active device 11 by the second clavicle screw rod ball axis 8, the side of third clavicle sliding block 22 is provided with second step
Into motor 9, the model of the second stepper motor 9 can be 57H2P5442A4-A, and the output shaft of second stepper motor 9 extends to
The inside of third clavicle sliding block 22 and the connection of the second clavicle screw rod ball axis 8, the inside of 3 top third clavicle sliding block 22 of supporting table
It is evenly arranged with the first clavicle screw rod ball axis 7, the top of clavicle active device 11 is connected with clavicle ball by universal joint 15
16, and the top of clavicle ball 16 is provided with mounting base 18, the outside of mounting base 18 is equipped with synchronous belt mounting groove 21, branch
The outer surface of support platform 3 is provided with controller 2, and the model of the controller 2 can be MAM-330, and the alternating voltage of controller 2 is through transformation
After device decompression, after rectifier rectification becomes direct current through control device entering sucker, sucker is magnetized at this time, and when demagnetization is passed through
Backward voltage route, controller 2 reaches demagnetization function, and controller 2 is electric with electric pushrod 4 and the second stepping respectively by conducting wire
Machine 9 is electrically connected, and 3 bottom of supporting table is provided with 4 electric pushrods 4, and electric pushrod 4 cooperates and constitutes elevating mechanism, clavicle
The outside of ball 16 is provided with the second clavicle sliding block 17, and the second clavicle sliding block 17, clavicle active device 11, the second clavicle screw rod
Ball axis 8 and second stepper motor 9, which cooperate, constitutes reciprocating mechanism, the outside setting of the first clavicle screw rod ball axis 7
There is the first stepper motor 14, the model of first stepper motor can be 57H2P5442A4-A, and the first stepper motor 14 passes through conducting wire
It is electrically connected with controller 2, and the first stepper motor 14, the first clavicle screw rod ball axis 7 and third clavicle sliding block 22 cooperate
Translation mechanism is constituted, the outer surface of mounting base 18 is provided with screw rod mounting groove 19 and motor fixing groove 20, and screw rod mounting groove
19, motor fixing groove 20, synchronous belt mounting groove 21 and mounting base 18, which cooperate, constitutes installing mechanism.
Working principle: in use, be first arranged according to the height that staff itself is adapted to by 3 outer surface of supporting table
Controller 2, which adjusts electric pushrod 4, makes supporting table 3 rise to desired height, in the screw rod mounting groove by being arranged on mounting base 18
19, manipulator is quickly fixedly mounted on mounting base 18, reduces peace by motor fixing groove 20 and synchronous belt mounting groove 21
Time needed for dress passes through starting 14 He of the first stepper motor of controller 2 when manipulator needs accurate movement to a certain position
Second stepper motor 9 enables clavicle active device 11 under the action of stepper motor at 7, first, the first screw rod ball axis
Bar ball axis 7, third clavicle screw rod ball axis 10 and the 4th clavicle screw rod ball axis 13 move up and down, can be accurate
Clamping needed for article, can make to be mounted on clavicle rolling by universal joint 15 and clavicle ball 16 when manipulator needs to rotate
Adjustable to the required angle of manipulator at 16 top of pearl.
It is obvious to a person skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and
And without departing substantially from the spirit or essential attributes of the utility model, it can realize that this is practical new in other specific forms
Type.Therefore, in all respects, the present embodiments are to be considered as illustrative and not restrictive, this is practical new
The range of type is indicated by the appended claims rather than the foregoing description, it is intended that containing for the equivalent requirements of the claims will be fallen in
All changes in justice and range are embraced therein.It should not treat any reference in the claims as limiting
Related claim.
Claims (5)
1. planar manipulator support device, including supporting table (3), chassis (5), clavicle active device (11) and mounting base
(18), it is characterised in that: the two sides of supporting table (3) bottom are connected with electric pushrod (4) by resilient cushion (6), and electronic
The bottom of push rod (4) is equipped with chassis (5), and the two sides at the top of the supporting table (3) are equipped with support rod (1), and support rod (1)
The top of inside is connected with the first clavicle sliding block (12) by the 4th clavicle screw rod ball axis (13), in the support rod (1)
Between position third clavicle sliding block (22) is connected with by third clavicle screw rod ball axis (10), and third clavicle sliding block (22) is interior
Side is connected with clavicle active device (11) by the second clavicle screw rod ball axis (8), the side of the third clavicle sliding block (22)
Be provided with second stepper motor (9), and the output shaft of second stepper motor (9) extend to third clavicle sliding block (22) inside and
The connection of second clavicle screw rod ball axis (8), the inside of third clavicle sliding block (22) is evenly arranged with the at the top of the supporting table (3)
The top of one clavicle screw rod ball axis (7), the clavicle active device (11) is connected with clavicle ball by universal joint (15)
(16), it and at the top of clavicle ball (16) is provided with mounting base (18), synchronization is installed on the outside of the mounting base (18)
Band mounting groove (21), the outer surface of the supporting table (3) is provided with controller (2), and controller (2) by conducting wire respectively with electricity
Dynamic push rod (4) and second stepper motor (9) electrical connection.
2. planar manipulator support device according to claim 1, it is characterised in that: supporting table (3) the bottom setting
There are 4 electric pushrods (4), and electric pushrod (4) cooperates and constitutes elevating mechanism.
3. planar manipulator support device according to claim 1, it is characterised in that: the outside of the clavicle ball (16)
It is provided with the second clavicle sliding block (17), and the second clavicle sliding block (17), clavicle active device (11), the second clavicle screw rod ball axis
(8) it cooperates with second stepper motor (9) and constitutes reciprocating mechanism.
4. planar manipulator support device according to claim 1, it is characterised in that: the first clavicle screw rod ball axis
(7) it being provided on the outside of the first stepper motor (14), the first stepper motor (14) is electrically connected by conducting wire and controller (2), and
First stepper motor (14), the first clavicle screw rod ball axis (7) and third clavicle sliding block (22), which cooperate, constitutes translation mechanism.
5. planar manipulator support device according to claim 1, it is characterised in that: the appearance of the mounting base (18)
Face is provided with screw rod mounting groove (19) and motor fixing groove (20), and screw rod mounting groove (19), motor fixing groove (20), synchronous belt
Mounting groove (21) and mounting base (18), which cooperate, constitutes installing mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821437256.9U CN208744832U (en) | 2018-09-04 | 2018-09-04 | Planar manipulator support device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821437256.9U CN208744832U (en) | 2018-09-04 | 2018-09-04 | Planar manipulator support device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208744832U true CN208744832U (en) | 2019-04-16 |
Family
ID=66082846
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821437256.9U Active CN208744832U (en) | 2018-09-04 | 2018-09-04 | Planar manipulator support device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208744832U (en) |
-
2018
- 2018-09-04 CN CN201821437256.9U patent/CN208744832U/en active Active
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