CN2263572Y - Electric manipulator - Google Patents
Electric manipulator Download PDFInfo
- Publication number
- CN2263572Y CN2263572Y CN 96213932 CN96213932U CN2263572Y CN 2263572 Y CN2263572 Y CN 2263572Y CN 96213932 CN96213932 CN 96213932 CN 96213932 U CN96213932 U CN 96213932U CN 2263572 Y CN2263572 Y CN 2263572Y
- Authority
- CN
- China
- Prior art keywords
- shaft
- arm
- manipulator
- electromagnetic clutch
- electric
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to an electric manipulator, particularly a rectangular coordinate type electric manipulator used on an injection machine. The utility model is composed of a large arm, a cross arm, a vertical arm, a hand claw, electromagnetic clutches, an electric control box, etc. The utility model is characterized in that the electric manipulator only uses one servo motor to orderly drive the three degree of freedom of the manipulator respectively through an electromagnetic clutch with one input shaft and an electromagnetic clutch with three output shafts. The electric manipulator not only has the advantages of a full electric manipulator, but also can greatly reduce manufacturing cost, and the electric manipulator can also be used for similar occasions in industrial production.
Description
The utility model relates to a kind of electric manipulator, especially for the Cartesian coordinate type electric manipulator on the injection machine.
Manipulator of injection machine is the manipulator that is specifically designed on injection machine or other plastics forming machines, and the workman is engaged in bad working environment frequently in order to replace, dullness, the heavy upper and lower material work of injection machine.Its forms of motion is generally Cartesian coordinate type, has three degree of freedom, by big arm (Z axle), and transverse arm (X-axis), formations such as upright arm (Y-axis) and paw, paw is fixed on the lower end of upright arm, is used to take out manufactured goods or puts into part (seeing accompanying drawing).Its type of drive is generally pneumatic entirely, all-electric or gas electric hybrid type.But owing to adopt electric driving can avoid effectively impacting, the location is accurate, even can further control the movement velocity curve of each free degree, its functional reliability is improved greatly, thereby obtain application more and more widely.But because each free degree of all-electric manipulator is used independent driven by servomotor respectively, three degree of freedom just needs three cover drive circuit, servomotor and transmission devices, thereby increased manufacturing cost, caused price higher, thereby limited applying of it.
The purpose of this utility model is the all-electric manipulator that will provide a kind of injection machine of simplification to use, and it not only has whole advantages of all-electric manipulator, and can reduce manufacturing cost significantly, thereby has very high promotional value.
The purpose of this utility model is achieved in that owing to be used for there is no need when the manipulator of injection machine is worked motion simultaneously on two or more frees degree, only need on each free degree, to move successively respectively and can successfully finish the work, so the utility model only uses a servomotor by an electromagnetic clutch case with a power shaft and three output shafts, difference is the three degree of freedom of driving device hand successively, when realizing its function, simplify the structure, thereby reduced manufacturing cost significantly.
The cost of its electrical control and electric drive part accounts for the 60%-70% of its total manufacturing cost concerning general all-electric manipulator, if the manipulator of three degree of freedom, the scheme that employing the utility model proposes can be saved totle drilling cost 30%-40%, and its economic benefit is appreciable.
Below in conjunction with CONSTRUCTED SPECIFICATION and the working condition of accompanying drawing detailed description according to the electric manipulator that the utility model proposes.
The big arm of manipulator (15) is fixed on the top of injection machine (17), is fixed with linear guides (14) and tooth bar (13) on the big arm, and transverse arm (2) can slide thereon.An electromagnetic clutch case (11) is housed on the transverse arm, is connected with three independently electromagnetic clutch on its power shaft, they can be respectively under electrical control with three output shafts in any UNICOM.Servomotor (10) is contained on the electromagnetic clutch case, connects with its power shaft.An output shaft of clutch is gear shaft (12), with the tooth bar engagement on the big arm, when it is connected, can drives transverse arm and move along big arm Z-direction.Linear guides (3) is housed on the transverse arm, and upright arm gripper shoe (4) can be slided thereon.Be fixed with transmission switching piece (7) on the upright arm gripper shoe.Another root output shaft (9) of clutch is a ballscrew shaft, when it is connected, can drives the upright arm gripper shoe and moves along the transverse arm X-direction by the transmission piece of transferring.The gear (drawing) that is equipped with on the upright arm (5) in tooth bar and the transmission switching piece is meshed, and paw (1) is equipped with in its end.The 3rd output shaft (8) of clutch is splined shaft, can drive upright arm and moves along upright arm slide rail (6) Y direction by the transmission piece of transferring when it is connected.
When the injection machine mould is opened, electric control gear control electromagnetic clutch in the electric control box (16), make the servomotor power shaft respectively successively with gear shaft, ballscrew shaft and splined shaft UNICOM, drive paw and move into arrival precalculated position in the mould, paw is controlled electromagnetic clutch by electric control gear after catching manufactured goods, the hand that to grab manufactured goods by each output shaft of above-mentioned reversed sequence UNICOM is grabbed and is shifted out mould, and manufactured goods are put on the assigned address.
Claims (2)
1, a kind of electric manipulator, by big arm, transverse arm, upright arm, paw, the electromagnetic clutch case, servomotor, electric control box is formed, it is characterized in that an electromagnetic clutch case with a power shaft and three output shafts is fixed on the transverse arm, servomotor is fixed thereon, its power shaft is servo motor shaft, its first output shaft is gear shaft, gear meshes with the tooth bar on the big arm, its second output shaft is ballscrew shaft, with the nut engagement that is fixed on the upright arm gripper shoe, its the 3rd output shaft is splined shaft, is meshed with the tooth bar of upright arm by the gear spline cover in the switching of the transmission on the vertical support plate piece.
2, according to the described electric manipulator of claim 1, it is characterized in that being connected with three independently electromagnetic clutch on the power shaft of electromagnetic clutch case, they can be respectively under electrical control with three output shafts in any UNICOM.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 96213932 CN2263572Y (en) | 1996-06-25 | 1996-06-25 | Electric manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 96213932 CN2263572Y (en) | 1996-06-25 | 1996-06-25 | Electric manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2263572Y true CN2263572Y (en) | 1997-10-01 |
Family
ID=33896154
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 96213932 Expired - Fee Related CN2263572Y (en) | 1996-06-25 | 1996-06-25 | Electric manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2263572Y (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100368157C (en) * | 2005-05-20 | 2008-02-13 | 中国科学院自动化研究所 | A force feedback provided manipulator |
| CN100400245C (en) * | 2006-08-02 | 2008-07-09 | 浙江大学 | Manipulator having cross-in/cross-out and retardation controller |
| CN100513096C (en) * | 2007-11-05 | 2009-07-15 | 中国农业大学 | Cartesian coordinate type fruit picking mechanical arm device |
| CN101644797B (en) * | 2009-06-30 | 2011-03-30 | 宁波市樱铭电子科技有限公司 | Plug device |
| CN102059691A (en) * | 2009-11-17 | 2011-05-18 | 王雪 | Master-slave type plastic spraying robot |
| CN102335918A (en) * | 2010-07-15 | 2012-02-01 | 昆山广禾电子科技有限公司 | Automatic feeding and blanking manipulator |
| CN102118474B (en) * | 2009-12-31 | 2014-04-30 | 比亚迪股份有限公司 | Mobile phone testing machine |
| CN103802087A (en) * | 2012-11-13 | 2014-05-21 | 宁波市北仑恒誉自动化科技有限公司 | Five-shaft double-arm multifunctional manipulator |
| CN104875198A (en) * | 2015-05-14 | 2015-09-02 | 上海宜功焊接科技有限公司 | Rectangular coordinate type six-axis robot |
| CN105058374A (en) * | 2015-07-31 | 2015-11-18 | 广东省自动化研究所 | Hanging mechanical hand |
| CN105642919A (en) * | 2016-03-10 | 2016-06-08 | 温州职业技术学院 | Production assisting robot for numerical control machine tool |
| CN115108273A (en) * | 2022-07-08 | 2022-09-27 | 中国核电工程有限公司 | Online sampling device of core block |
-
1996
- 1996-06-25 CN CN 96213932 patent/CN2263572Y/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100368157C (en) * | 2005-05-20 | 2008-02-13 | 中国科学院自动化研究所 | A force feedback provided manipulator |
| CN100400245C (en) * | 2006-08-02 | 2008-07-09 | 浙江大学 | Manipulator having cross-in/cross-out and retardation controller |
| CN100513096C (en) * | 2007-11-05 | 2009-07-15 | 中国农业大学 | Cartesian coordinate type fruit picking mechanical arm device |
| CN101644797B (en) * | 2009-06-30 | 2011-03-30 | 宁波市樱铭电子科技有限公司 | Plug device |
| CN102059691A (en) * | 2009-11-17 | 2011-05-18 | 王雪 | Master-slave type plastic spraying robot |
| CN102118474B (en) * | 2009-12-31 | 2014-04-30 | 比亚迪股份有限公司 | Mobile phone testing machine |
| CN102335918A (en) * | 2010-07-15 | 2012-02-01 | 昆山广禾电子科技有限公司 | Automatic feeding and blanking manipulator |
| CN103802087A (en) * | 2012-11-13 | 2014-05-21 | 宁波市北仑恒誉自动化科技有限公司 | Five-shaft double-arm multifunctional manipulator |
| CN104875198A (en) * | 2015-05-14 | 2015-09-02 | 上海宜功焊接科技有限公司 | Rectangular coordinate type six-axis robot |
| CN105058374A (en) * | 2015-07-31 | 2015-11-18 | 广东省自动化研究所 | Hanging mechanical hand |
| CN105058374B (en) * | 2015-07-31 | 2016-11-02 | 广东省自动化研究所 | A kind of suspension type mechanical hand |
| CN105642919A (en) * | 2016-03-10 | 2016-06-08 | 温州职业技术学院 | Production assisting robot for numerical control machine tool |
| CN115108273A (en) * | 2022-07-08 | 2022-09-27 | 中国核电工程有限公司 | Online sampling device of core block |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN2263572Y (en) | Electric manipulator | |
| CN201942330U (en) | Four-spatial-activity controlled stacking robot | |
| CN104308831B (en) | Parallel robot driven by double-rotor linear motor | |
| CN1355087A (en) | Two-freedom translational parallel robot mechanism containing only rotating sets | |
| CN106429149B (en) | A kind of intelligent storage tunnel robot mechanical arm | |
| CN102528793A (en) | End effector overturnable mechanism for carrying plate-shaped workpiece | |
| CN1769005A (en) | Large-workspace three-dimensional moving parallel robot mechansim | |
| CN111805563B (en) | Single-drive electric self-adaptive manipulator based on connecting rod differential mechanism | |
| CN106061689A (en) | Robotic hand, robot, and workpiece handling method | |
| CN201665259U (en) | Flexible positioning device | |
| CN103895008A (en) | Space three-dimensional translation parallel robot mechanism only containing revolute pairs | |
| CN101700655A (en) | Three-dimensional transformational parallel robot mechanism with large workspace | |
| CN1287955C (en) | Structure decoupling three degrees of freedom parallel robot mechanism | |
| CN207223972U (en) | A kind of band storage space multifunction manipulator | |
| CN104668405A (en) | Feeding and collecting device for iron wire bending machine | |
| CN204471372U (en) | A kind of Three Degree Of Freedom transfer robot | |
| CN110978022B (en) | Clamping turnover mechanism of manipulator | |
| CN202029131U (en) | Industrial robot for production of precision plastic products | |
| CN204800626U (en) | Three -dimensional walking robot | |
| CN211073636U (en) | Two-degree-of-freedom manipulator mechanism | |
| CN208843274U (en) | Glass pieces production line and its floor rail type manipulator | |
| CN102699909B (en) | Novel industrial robot structure device | |
| CN210910025U (en) | Mechanical arm of high-speed machine | |
| CN207671642U (en) | A kind of cascaded structure formula light-weight vertical lifting platform | |
| CN217097777U (en) | Stamping manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |