CN218170405U - Two-section single-arm servo manipulator - Google Patents
Two-section single-arm servo manipulator Download PDFInfo
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- CN218170405U CN218170405U CN202221666561.1U CN202221666561U CN218170405U CN 218170405 U CN218170405 U CN 218170405U CN 202221666561 U CN202221666561 U CN 202221666561U CN 218170405 U CN218170405 U CN 218170405U
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Abstract
The utility model discloses a two single armed servo manipulator that cut solves current two single armed manipulators and pricks the overall arrangement with each mechanism, leads to the stroke limited with the centre gripping scope limited, the unstable problem of marcing to can dismantle fast and change different outer dress parts, adapt to the difference and wait to snatch the object, the functionality is stronger, application scope is wider. And provides a control method of the double-section single-arm servo manipulator compatible with the open type operation mode and the fixed type operation mode.
Description
Technical Field
The utility model relates to a manipulator technical field, concretely relates to two-section single armed servo manipulator.
Background
The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments. The double-section manipulator has higher up-and-down running speed and is suitable for workshop installation with lower factory buildings. However, the existing three-axis mechanical arm is single in grabbing function, only can grab partial objects, cannot well complete conveying work on the partially inconvenient grabbed objects, and is small in application range.
In addition, the existing mechanical automation control field is combined, the function operation mode of mechanical digital control is single, selectivity is not available, and the protection functions of automatically controlling abnormal operation to stop the circulation process and automatically closing the system flow can not be achieved due to the lack of a perfect fault detection and repair concept, so that the condition of multiple collocation of combined functions is not provided, and the development trend of the mechanical manufacturing industry with higher and higher standards can not be met.
Moreover, with the machine manufacturing already generally turning to the digital and automatic operation flows of mechanical operation, various servo control systems developed to meet the operation of different types of mechanical arms have been successfully approved and put into production of mechanical products for use, the structure composition is simple, the mechanical arm operation is easy, however, the realization of the servo function not only needs the related power servo mechanism to support the corresponding operation control structure, but also needs to add the functional steps expressed by the display device to display the operation instructions in order to support the fully automatic operation control system with diversified and improved functions; at present, strict process management and irregular change of specifications of the production process of the product require diversification of functions of an operation control system of the production equipment, and are more beneficial to parameter value modification, namely functional program modification, of mechanical equipment during production and use.
In view of the above, a new and reasonable manipulator and a manipulator control method are needed to effectively solve the above problems.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a two single armed servo manipulator that cut solves current two single armed manipulators and pricks the overall arrangement with each mechanism, leads to the stroke limited with the centre gripping scope limited, the unstable problem of marcing to can dismantle the different outer parts of changing fast, adapt to the different object of waiting to snatch, the functionality is stronger, application scope is wider. And control method for providing double-section single-arm servo manipulator compatible with open type and fixed type operation modes
In order to achieve the purpose, the utility model adopts the technical proposal that:
a double-section single-arm servo manipulator comprises a control box and an operator, wherein the control box and the operator are used for controlling the double-section single-arm servo manipulator and are electrically connected with each other through a control circuit; the X-axis mounting plate is further connected with a Y-axis mounting plate, the Y-axis mounting plate is connected with a Y-axis moving mechanism, the Y-axis moving mechanism is connected with a Y-axis moving track, the Y-axis moving track is connected with a Y-axis girder body, the Y-axis girder body is connected with a transfer plate, the transfer plate is connected with a Z-axis mounting plate, the Z-axis mounting plate is connected with a Z-axis moving mechanism, a Z-axis moving track connected with the Z-axis moving mechanism is connected with the Z-axis girder body, a Z-axis arm is connected with one side surface of the Z-axis girder body far away from the Z-axis mounting plate, the Z-axis arm is connected with a Z-axis arm moving track, a Z-axis arm moving mechanism connected with the Z-axis arm moving track, and the other side of the Z-axis arm moving mechanism is connected with the Z-axis girder body, the lower extreme of Z axle arm is connected with picks up tool installation mechanism, it is connected with actuating mechanism to pick up between tool installation mechanism and the Z axle arm, it includes the tool mounting panel to pick up tool installation mechanism, wherein, be connected with on the panel of tool mounting panel and supply the pivot to wear to establish connecting seat wherein, be connected with the connecting piece on another panel of tool mounting panel, the connecting piece is kept away from the one end of tool mounting panel and has been seted up the perforation, just the connecting piece is equipped with open-ended this end and is connected to on the connecting seat, the connecting piece with the connecting seat is established ties through the pivot together, the hangers piece is connected to two sides of connecting piece, hangers piece one end is connected on the connecting piece, and its other end is connected on the actuating mechanism output shaft.
Further, the tool mounting panel is "L" type structure, the connecting seat is connected on erectting the panel, the connecting piece is connected on horizontal panel.
Further, the connecting seat and the jig mounting plate are connected in an integrated structure or in a detachable manner.
Furthermore, the connecting piece and the jig mounting plate are in an integrated structure or detachably connected.
Further, the vertical panel and the horizontal panel on the jig mounting plate are provided with mounting holes connected with the picking jig.
The utility model has the advantages that:
the utility model provides a two single armed servo manipulator of cutting through rationally the overall arrangement, has solved current two single armed manipulators of cutting and has pricked the overall arrangement with each mechanism, leads to the stroke limited with the centre gripping scope limited, the unstable problem of marcing to can dismantle the different outer parts of changing fast, adapt to the difference and wait to snatch the object, functional stronger, application scope is wider.
The utility model provides a control method possesses multiple application program modularization, can simply and conveniently select the combination to use, maintains convenient and fast, and compatible open and two kinds of fixed operating mode's two-section single armed servo manipulator's control method
To more clearly illustrate the structural features and effects of the present invention, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
Drawings
FIG. 1 is a perspective view of a double-section single-arm servo manipulator of the present invention;
FIG. 2 is a perspective view of a double-section single-arm servo manipulator of the present invention;
FIG. 3 is a perspective view of a double-section single-arm servo manipulator of the present invention;
FIG. 4 shows a Z-axis arm structure of the present invention;
fig. 5 shows the mounting mechanism structure of the pick-up jig of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts all belong to the protection scope of the present invention.
Referring to fig. 1-5, the present embodiment provides a double-section single-arm servo manipulator, which includes a control box and an operator for controlling the double-section single-arm servo manipulator, and the control box and the operator are electrically connected to each other through a control circuit, where the double-section single-arm servo manipulator includes an X-axis main beam 1, an X-axis moving track 2 is connected to the X-axis main beam 1, an X-axis moving mechanism 3 is connected to the X-axis moving track 2, and the X-axis moving mechanism 3 is connected to an X-axis mounting plate 4; the X-axis mounting plate 4 is further connected with a Y-axis mounting plate 5, the Y-axis mounting plate 5 is connected with a Y-axis moving mechanism 6, the Y-axis moving mechanism 6 is connected with a Y-axis moving track 7, the Y-axis moving track 7 is connected with a Y-axis main beam body 8, the Y-axis main beam body 8 is connected with a transfer plate 9, the transfer plate 9 is connected with a Z-axis mounting plate 10, the Z-axis mounting plate 10 is connected with a Z-axis moving mechanism 11, a Z-axis moving track 12 is connected with the Z-axis moving mechanism 11, the Z-axis moving track 12 is connected with a Z-axis main beam body 13, a Z-axis arm 14 is connected with one side surface of the Z-axis main beam body 13 far away from the Z-axis mounting plate 10, the Z-axis arm 14 is connected with a Z-axis arm moving track 15, the Z-axis arm moving mechanism 16 is connected with the Z-axis arm moving track 15, and the other side of the Z-axis arm moving mechanism 16 is connected with the Z-axis main beam body 13, the lower extreme of Z axle arm 14 is connected with picks up tool installation mechanism 17, it is connected with actuating mechanism to pick up between tool installation mechanism 17 and the Z axle arm 14, it includes tool mounting panel 18 to pick up tool installation mechanism 17, wherein, be connected with on a panel of tool mounting panel 18 and supply the pivot to wear to establish connecting seat 19 wherein, be connected with connecting piece 20 on another panel of tool mounting panel 18, connecting piece 20 keeps away from the one end of tool mounting panel 18 and has seted up the perforation, just connecting piece 20 is equipped with open-ended this end and is connected to on connecting seat 19, connecting piece 20 with connecting seat 19 is established ties through the pivot together, lug 21 is connected to two sides of connecting piece 20, lug 21 one end is connected on connecting piece 20, and its other end is connected on actuating mechanism output shaft 22.
In this embodiment, the jig mounting plate 18 is an L-shaped structure, the connecting base 19 is connected to the vertical panel, and the connecting member 20 is connected to the horizontal panel.
In this embodiment, the connecting seat 19 and the jig mounting plate 18 are integrally or detachably connected.
In this embodiment, the connecting member 20 and the jig mounting plate 18 are integrally or detachably connected.
In this embodiment, the vertical panel and the horizontal panel on the jig mounting plate 18 are both provided with mounting holes connected to the pickup jig.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention in any way. The invention is not limited to the embodiments described herein, but is capable of other embodiments with obvious modifications and variations, including those shown in the drawings and described herein. Therefore, the equivalent changes made according to the shape, structure and principle of the present invention should be covered in the protection scope of the present invention.
Claims (7)
1. A double-section single-arm servo manipulator comprises a control box and an operator, wherein the control box and the operator are used for controlling the double-section single-arm servo manipulator and are electrically connected with each other through a control circuit; the X-axis mounting plate is further connected with a Y-axis mounting plate, the Y-axis mounting plate is connected with a Y-axis moving mechanism, the Y-axis moving mechanism is connected with a Y-axis moving track, the Y-axis moving track is connected with a Y-axis main beam body, the Y-axis main beam body is connected with a transfer plate, the transfer plate is connected with a Z-axis mounting plate, the Z-axis mounting plate is connected with a Z-axis moving track, the Z-axis moving track is connected with the Z-axis moving mechanism, the Z-axis moving track is connected with the Z-axis main beam body, a Z-axis arm is connected with one side of the Z-axis main beam body, which is far away from the Z-axis mounting plate, the Z-axis arm is connected with a Z-axis arm moving track, a Z-axis arm moving mechanism is connected with the Z-axis arm moving track, the other side of the Z-axis arm moving mechanism is connected with the Z-axis main beam body, the lower extreme of Z axle arm is connected with picks up tool installation mechanism, it is connected with actuating mechanism to pick up between tool installation mechanism and the Z axle arm, it includes the tool mounting panel to pick up tool installation mechanism, wherein, be connected with on the panel of tool mounting panel and supply the pivot to wear to establish connecting seat wherein, be connected with the connecting piece on another panel of tool mounting panel, the connecting piece is kept away from the one end of tool mounting panel and has been seted up the perforation, just the connecting piece is equipped with open-ended this end and is connected to on the connecting seat, the connecting piece with the connecting seat is established ties through the pivot together, the hangers piece is connected to two sides of connecting piece, hangers piece one end is connected on the connecting piece, and its other end is connected on the actuating mechanism output shaft.
2. The double-section single-arm servo manipulator of claim 1, wherein the jig mounting plate is of an "L" shape.
3. The double-section single-arm servo manipulator of claim 1, wherein the connecting base is connected to a jig mounting plate erecting panel.
4. The double-section single-arm servo manipulator of claim 1, wherein the connecting piece is connected to a jig mounting plate transverse panel.
5. The double-section single-arm servo manipulator as claimed in claim 3, wherein the connecting seat is integrally or detachably connected to the jig mounting plate.
6. The double-section single-arm servo manipulator as claimed in claim 4, wherein the connecting member is integrally or detachably connected to the jig mounting plate.
7. The double-section single-arm servo manipulator as claimed in claim 5, wherein the vertical panel and the horizontal panel of the jig mounting plate are provided with mounting holes for connecting with a pick-up jig.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221666561.1U CN218170405U (en) | 2022-06-29 | 2022-06-29 | Two-section single-arm servo manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221666561.1U CN218170405U (en) | 2022-06-29 | 2022-06-29 | Two-section single-arm servo manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218170405U true CN218170405U (en) | 2022-12-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221666561.1U Active CN218170405U (en) | 2022-06-29 | 2022-06-29 | Two-section single-arm servo manipulator |
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| Country | Link |
|---|---|
| CN (1) | CN218170405U (en) |
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2022
- 2022-06-29 CN CN202221666561.1U patent/CN218170405U/en active Active
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