CN2834804Y - Manipulator having suspension arm mechanism with driving belt thereon - Google Patents
Manipulator having suspension arm mechanism with driving belt thereon Download PDFInfo
- Publication number
- CN2834804Y CN2834804Y CN 200520087542 CN200520087542U CN2834804Y CN 2834804 Y CN2834804 Y CN 2834804Y CN 200520087542 CN200520087542 CN 200520087542 CN 200520087542 U CN200520087542 U CN 200520087542U CN 2834804 Y CN2834804 Y CN 2834804Y
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- cantilever
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- belt
- auxiliary
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Abstract
The utility model relates to a manipulator with a driving belt suspension arm structure, which has the structure that a driving belt is fixed on a suspension arm. Because a rotating wheel which is tightly engaged with the driving belt is driven to move to and fro by a stepping motor, the guiding and pulling movement of a main arm or an auxiliary arm in a lateral direction of the driving belt of the suspension arm can be realized by the driving of the rotating wheel. Thereby, in the process of the positioning and the taking of processing parts, the main arm or the auxiliary arm can be exactly moved to a selected staying position and the entire weight of the suspension arm can be effectively decreased. The utility model mainly comprises a seat, a transversal suspension arm which is axially arranged on the seat and can move to and fro along a support stand of the seat, the main arm and the auxiliary arm, wherein the main arm and the auxiliary arm are arranged on the suspension arm and connected with the suspension arm through a driving mechanism. The driving mechanism comprises the driving belt which is arranged on the sectional material of the suspension arm, and the driving belt is connected between both side ends through fixed blocks which are arranged at both sides of the driving belt. One side of the main arm or the auxiliary arm which is connected with the suspension arm is connected with the stepping motor on the sectional material of the main arm or the auxiliary arm, the output shaft of the stepping motor is connected with a set of rotating wheels and the driving belt is extruded by the rotating wheels from the inner side and the outer side of the driving belt.
Description
Technical field
The utility model relates to a kind of new mechanical arm, and concrete is for the improvement design of the major and minor arm transmission mechanism of doing the pulling action on cantilever.
Background technology
At the integrated production scene of injection moulding industry, the manipulator with Electromechanical Control replaces artificial implementation and operation usually at present.The existing mechanical arm device has developed and has been modified as five type structures, promptly on base axle be provided with one can be along the reciprocating cantilever of base support, this cantilever is provided with the major and minor arm mechanism that is attached thereto by transmission mechanism.
As the patent formerly of following content disclosed, the patent No. 02208021, patent name is the manipulator automatic feeding, its scheme is that this device includes frame, by promoting the manipulator clamp mechanism that cylinder and connecting rod etc. constitute, by the nipper plate of band lower jaw, clamp two manipulator clamp mechanism that the nippers etc. of cylinder, band upper jaw constitutes, the walking mechanism that constitutes by the walker of upper and lower guide rail, band walking cantilever and forward and backward travelling wheel etc.By promoting cylinder and clamping the effect of cylinder, finish the resetting and the clamping of steel construction section bar of manipulator clamp mechanism, by the motor-driven walking mechanism, finish translation feeding again to section bar.There is following open defect in above-mentioned implementation: as adopting the location and the drive unit of cylinder, its mechanical arm comes in addition spacing by stop mechanism at the mobile need of axle side direction, otherwise be difficult to accurately arrive the precalculated position.For the product of production and processing different model, the defective of above-mentioned movement executing mechanism has caused needs often to adjust the position of stop mechanism, and this just gives safety operation and enhances productivity and brought problems.Walking cantilever in the above-mentioned walking mechanism and walker all are suspended structures, adopt air cylinder driven mechanism not only to make its complex structure, but also increased weight, have higher requirement for the stability Design of suspended structure.
The utility model content
Manipulator with driving-belt cantilever design described in the utility model, its purpose is to address the above problem with deficiency and is fixed with driving-belt on cantilever, move back and forth under the driving of drive motors by runner with the driving-belt tight engagement, realize that drive principal arm or auxiliary move in the pulling of carrying out in a lateral direction of the driving-belt of cantilever, thereby in the process of location, the processing component of taking, principal arm or auxiliary can be moved to selected stop place exactly, and can effectively reduce the weight of whole cantilever.
Described manipulator with driving-belt cantilever design, its primary structure comprises:
One plays the base of basic connection effect;
Axle be located at base level one side, and can be along the reciprocating horizontal cantilever of base support;
And, be arranged on a principal arm and an auxiliary mechanism this cantilever the same side, that be connected with cantilever by transmission mechanism.
For achieving the above object, improvements of the present utility model are:
Described transmission mechanism comprises the driving-belt that is arranged on the cantilever style profile framework, and driving-belt is connected between the both lateral sides end of cantilever style profile framework by the fixed block of both sides.
Under the prerequisite of no external force effect, driving-belt is actionless between the both lateral sides end of cantilever style profile framework.
A side that is connected with cantilever connects a motor on the section material framework of principal arm or auxiliary, the output shaft of motor is connected with one group of runner, and runner pushes described driving-belt from medial and lateral.Under the drive of motor, the power transmission between runner rotation and dependence and the driving-belt, runner drives principal arm or the auxiliary be attached thereto and realizes moving back and forth along the horizontal direction of driving-belt, and then realizes the pulling campaign at the cantilevered axle side direction of principal arm or auxiliary.
For improving tight engagement between runner and the driving-belt, the power that provides runner to move by mutual extrusion, described runner comprises a driving wheel that is connected with the output shaft of motor, and the gyroscope wheel of this driving wheel and both sides pushes described driving-belt respectively with the structure extruding of " product " font from medial and lateral.
As the transmission mechanism of above-mentioned structure, make the rotation of respective direction and distance by the output shaft of control drive motors, can realize the lateral displacement of driving wheel on driving-belt.
And, because drive motors drives turning to and rotate the number of turns and can being provided with and controlling of driving wheel, so principal arm or auxiliary can be regulated arbitrarily in cantilever move distance and position in a lateral direction.
Further improvement project is, is provided with 2 driving-belts on the cantilever style profile framework abreast, and 2 driving-belts are connected between the two side ends by the fixed block of both sides respectively.
Simultaneously, be connected a drive motors respectively on the section material framework of principal arm and auxiliary, the output shaft of motor is connected with one group of driving wheel and gyroscope wheel respectively.The driving wheel of principal arm and auxiliary and the gyroscope wheel of both sides are respectively with " product " font structure, each self-corresponding driving-belt is lived in extruding symmetrically.
For improving the connective stability of above-mentioned transmission mechanism, the same side that is connected with cantilever on the vertical section bars framework of principal arm or auxiliary, laterally connects a holder, connects described drive motors at this holder top.
As mentioned above, advantage and the beneficial effect with manipulator of driving-belt cantilever design is:
1, the runner transmission mechanism that adopts driving-belt and be engaged with can drive runner moving on driving-belt by drive motors, thereby realize that major and minor arm carries out the location of pulling action, the accuracy of range ability on cantilever;
2, major and minor arm can be selected the stop place arbitrarily in the process of location, the processing component of taking, and has not only improved the universal performance of whole manipulator, has effectively reduced the scrap build expense, and improved production efficiency;
3, having overcome employing air cylinder driven mechanism and need loads by the problem of manually regulating stop mechanism, potential safety hazard and the extra work of avoiding bringing because of manual adjustment;
4, simple, the weight that can effectively reduce whole cantilever of transmission mechanism.
Description of drawings
Fig. 1 is described robot manipulator structure figure with tooth bar transmission cantilever design.
Fig. 2 is the plan structure figure of Fig. 1.
Fig. 3 is the schematic diagram of transmission mechanism.
Have base 1, cantilever 2, principal arm 3, auxiliary 4 as shown in Figure 1-Figure 3;
Principal arm driving-belt 21, termination fixed block 211, auxiliary driving-belt 22, termination fixed block 221, cantilever section bar 23;
The specific embodiment
Be connected with principal arm 3 and auxiliary 4 in the same side of cantilever 2.
On cantilever section bar 23, be provided with principal arm driving-belt 21 abreast, auxiliary driving-belt 22.
Principal arm driving-belt 21, the termination fixed block 211 by both sides is connected between the two side ends.
Auxiliary driving-belt 22, the termination fixed block 221 by both sides is connected between the two side ends.
Simultaneously, the side in that principal arm 3 is connected with cantilever 2 is horizontally connected with a motor fixing seat 36 on principal arm assembly 31, be fixed with stepper motor 32 at the top of holder 36.
The output shaft of stepper motor 32 runs through holder 36 and carries out axle with the driving wheel 33 of holder 36 belows and establish and be connected, and the gyroscope wheel 34,35 of driving wheel 33 and both sides is respectively with " product " font structure, extruding principal arm driving-belt 21 firmly symmetrically.
Identical with the structure of principal arm assembly 31 is that the side in that auxiliary 4 is connected with cantilever 2 is horizontally connected with a motor fixing seat 46 on auxiliary assembly 41, be fixed with stepper motor 42 at the top of holder 46.
The output shaft of stepper motor 42 runs through holder 46 and carries out axle with the driving wheel 43 of holder 46 belows and establish and be connected, and the gyroscope wheel 44,45 of driving wheel 43 and both sides is respectively with " product " font structure, extruding auxiliary driving-belt 22 firmly symmetrically.
Under the drive of stepper motor 32,42, driving wheel 33, gyroscope wheel 34, gyroscope wheel 35, and driving wheel 43, gyroscope wheel 44, gyroscope wheel 45 rotations, and frictional force between dependence and the driving-belt 21,22, drive the principal arm 3 and the auxiliary 4 that are attached thereto and realize moving back and forth, and can regulate arbitrarily in cantilever 2 move distance and position in a lateral direction.
Claims (4)
1, a kind of manipulator with driving-belt cantilever design has the base that plays basic connection effect; Axle be located at base level one side, and can be along the reciprocating horizontal cantilever of base support; Be arranged on a principal arm and an auxiliary mechanism this cantilever the same side, that be connected with cantilever by transmission mechanism,
It is characterized in that: described transmission mechanism, comprise the driving-belt that is arranged on the cantilever style profile framework, driving-belt is connected between the transverse ends of cantilever style profile framework by the both sides fixed block;
A side that is connected with cantilever connects a drive motors on the section material framework of principal arm or auxiliary, the output shaft of motor is connected with one group of runner, and runner pushes described driving-belt from medial and lateral.
2, the manipulator with driving-belt cantilever design according to claim 1, it is characterized in that: described runner, comprise a driving wheel that is connected with the output shaft of motor, the gyroscope wheel of this driving wheel and both sides pushes described driving-belt respectively with the structure extruding of " product " font from medial and lateral.
3, the manipulator with driving-belt cantilever design according to claim 1 and 2 is characterized in that: be provided with 2 driving-belts on the cantilever style profile framework abreast, 2 driving-belts are connected between the two side ends by the fixed block of both sides respectively;
Be connected a motor on the section material framework of principal arm and auxiliary respectively, the output shaft of motor is connected with one group of driving wheel and gyroscope wheel respectively.
4, the manipulator with driving-belt cantilever design according to claim 3 is characterized in that: the same side that is connected with cantilever, on the vertical section bars framework of principal arm or auxiliary, laterally connect a holder, and connect described motor at this holder top.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520087542 CN2834804Y (en) | 2005-09-24 | 2005-09-24 | Manipulator having suspension arm mechanism with driving belt thereon |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520087542 CN2834804Y (en) | 2005-09-24 | 2005-09-24 | Manipulator having suspension arm mechanism with driving belt thereon |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2834804Y true CN2834804Y (en) | 2006-11-08 |
Family
ID=37299463
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200520087542 Expired - Fee Related CN2834804Y (en) | 2005-09-24 | 2005-09-24 | Manipulator having suspension arm mechanism with driving belt thereon |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2834804Y (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108313726A (en) * | 2018-02-09 | 2018-07-24 | 江苏正军装饰材料有限公司 | A kind of PVC plastic floor blanking device |
| CN110371550A (en) * | 2019-04-04 | 2019-10-25 | 丰疆智能科技股份有限公司 | Load System and seedling disk charging appliance and seedling disk stowage |
| CN110374307A (en) * | 2019-07-29 | 2019-10-25 | 中铁贵州工程有限公司 | A kind of intelligent robot can be used for construction |
-
2005
- 2005-09-24 CN CN 200520087542 patent/CN2834804Y/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108313726A (en) * | 2018-02-09 | 2018-07-24 | 江苏正军装饰材料有限公司 | A kind of PVC plastic floor blanking device |
| CN110371550A (en) * | 2019-04-04 | 2019-10-25 | 丰疆智能科技股份有限公司 | Load System and seedling disk charging appliance and seedling disk stowage |
| CN110374307A (en) * | 2019-07-29 | 2019-10-25 | 中铁贵州工程有限公司 | A kind of intelligent robot can be used for construction |
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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 |