CN205950724U - Two-axis full servo fast manipulator - Google Patents

Abstract

The utility model discloses a two-axis full-servo rapid manipulator, which comprises a support, a transverse walking arm, a drawing arm, a main arm, an arm seat, an electronic box, a PLC programmable controller, a transverse driving device controlled by the PLC programmable controller, a drawing cylinder and a main arm driving device, wherein the electronic box is arranged at the middle bottom position of the outer side wall of the transverse walking arm; the utility model has the advantages of ingenious structural design, reasonable arrangement of the position of the electronic box provided with the PLC, effective reduction of occupied space, and operation and maintenance at any time without shutdown; the drawing cylinder is directly adopted to drive the drawing arm to transversely slide on the transverse sliding rail, the transverse moving speed of the drawing arm is greatly increased, the working efficiency is increased, the lifting action of the main arm is realized by matching the driving gear on the servo motor of the main arm with the linear rack, the lifting action stability is good, the speed is high, the working efficiency of the manipulator is further improved, the operation and the control are easy, and the automation degree is high.

Description

Two-axis full servo fast manipulator

technical field

The utility model relates to the manipulator technology, in particular to a two-axis full-servo fast manipulator.

Background technique

With the improvement of the level of production automation, more and more manipulators are used to automatically perform production tasks. Manipulators can replace human heavy labor to realize mechanization and automation of production, and can operate in harmful environments to protect personal safety, so they are widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy and other fields. Modern injection molding machines are often equipped with manipulators, which need to be used to pick up the products produced by the injection molding machine and place them at a predetermined location to improve production efficiency.

There are many kinds of manipulators on the market, each of which has different design concepts, and strives to meet the requirements of different users. However, although these manipulators can roughly meet the requirements of use, the design is not ingenious, and the structure is relatively complicated. It moves with the movement of the manipulator, which brings inconvenience to the operation and maintenance, and must be stopped to proceed; if it is installed at one end of the traverse arm, the control box is fixed, but the control box protrudes more obviously, which is very difficult for the installation and arrangement of the manipulator. It brings trouble, takes up a lot of space, and its adjustment and maintenance are not very convenient. In addition, the movement of the manipulator is slow, resulting in its not very high work efficiency.

Utility model content

In view of the above shortcomings, the purpose of this utility model is to provide a two-axis full-servo fast manipulator with ingenious and reasonable structural design, high working efficiency, and convenient operation and maintenance.

In order to achieve the above purpose, the technical solution provided by the utility model is: a two-axis full-servo fast manipulator, which includes a support, a transverse arm, a transverse drive device, an extraction arm, an extraction cylinder, a main arm, and a main arm Drive device, arm seat, electric box and PLC programmable controller, the described traverse arm is arranged on the support, and one end of the drawing-out arm is movably arranged on the traverse arm through the traverse rail, and the traverse drive device It is arranged on the drawing arm and can drive the drawing arm to slide horizontally on the horizontal slide rail. The arm seat is movably arranged on the drawing arm through the longitudinal slide rail. The drawing cylinder is arranged on the drawing arm. And it can drive the arm seat to slide longitudinally on the longitudinal slide rail. The main arm is movable on the arm seat through the vertical slide rail. The main arm driving device is arranged on the arm seat and can drive the main arm to move relative to the arm seat. Vertical lifting movement, the electric box is set at the bottom position in the middle of the outer wall of the traverse arm, the PLC programmable controller is set in the electric box, and is driven by the horizontal drive device, the drawing cylinder and the main arm respectively. device is connected.

As an improvement of the utility model, the transverse driving device includes a cover body, a traverse servo motor, a traverse slide plate and a transverse belt drive assembly, the traverse slide plate is movably arranged on the transverse slide rail, and the traverse The walking servo motor is vertically arranged on the traversing slide plate, and is connected with the traversing arm through the transverse belt transmission assembly, the cover is covered on the traversing slide plate, and the traversing servo motor cover up.

As an improvement of the utility model, the top surface of the electrical box is provided with a cable harness frame.

As an improvement of the present utility model, the main arm driving device includes a main arm servo motor, a linear rack and a driving gear, the linear rack is arranged on the side wall of the main arm, and the main arm servo motor The position corresponding to one side of the linear rack is set on the arm seat, and the drive gear is set on the drive shaft of the main arm servo motor and meshes with the linear rack.

As an improvement of the utility model, the lower end of the main arm is provided with a side posture device.

The beneficial effects of the utility model are: the utility model has an ingenious structural design, and the electric box equipped with a PLC programmable controller is reasonably arranged at the middle bottom position of the outer wall of the horizontal arm, which effectively reduces the occupied space, and can be operated at any time without stopping the machine. for operation and maintenance. The extraction cylinder is directly used to drive the extraction arm to slide horizontally on the horizontal slide rail, which greatly improves the lateral movement speed of the extraction arm, thereby improving work efficiency, and the lifting action of the main arm is through the drive gear on the main arm servo motor and the The combination of linear rack and rack is realized, and the lifting action is stable and fast, which further improves the working efficiency of the manipulator. In addition, the overall structure is simple, compact, small in size, easy to implement, and conducive to wide application.

Below in conjunction with accompanying drawing and embodiment, the utility model is further described.

Description of drawings

Fig. 1 is a front structural schematic view of the utility model.

Fig. 2 is a schematic diagram of an exploded structure of the utility model.

Fig. 3 is the second schematic diagram of the decomposition structure of the utility model.

detailed description

Embodiment, referring to Fig. 1, Fig. 2 and Fig. 3, a two-axis full-servo fast manipulator provided in this embodiment includes a support 1, a traverse arm 2, a traverse drive device 3, an extraction arm 4, an extraction arm Cylinder 5, main arm 6, main arm driving device 7, arm seat 8, electric box 9 and PLC programmable controller, described traverse arm 2 is arranged on the support 1, and one end of described drawing arm 4 passes through transverse The slide rail is movably arranged on the traverse arm 2, the lateral drive device 3 is arranged on the drawing arm 4, and can drive the drawing arm 4 to slide laterally on the transverse slide rail, and the arm seat 8 passes through the longitudinal slide rail It is movably arranged on the drawing arm 4, the drawing cylinder 5 is arranged on the drawing arm 4, and can drive the arm seat 8 to slide longitudinally on the longitudinal slide rail, and the main arm 6 is movably arranged on the vertical slide rail. Arm seat 8, the main arm driving device 7 is arranged on the arm seat 8, and can drive the main arm 6 to perform vertical lifting movement relative to the arm seat 8, and the electric box 9 is arranged at the middle bottom of the outer side wall of the traverse arm 2 position, the PLC programmable controller is set in the electric box 9, and is respectively connected with the lateral drive device 3, the pulling cylinder 5 and the main arm drive device 7. A side posture device 10 is provided at the lower end of the main arm to meet different usage requirements.

Specifically, the transverse drive device 3 includes a cover body 31, a traverse servo motor 32, a traverse slide plate 33 and a transverse belt drive assembly, the traverse slide plate 33 is movably arranged on the transverse slide rail, and the traverse The servo motor 32 is vertically arranged on the traversing slide 33, and is connected with the traversing arm 2 through the transverse belt transmission assembly, the cover 31 is covered on the traversing slide 33, and the Traversing servo motor 32 covers.

The main arm driving device 7 includes a main arm servo motor 71, a linear rack 72, a drive gear and a cover 73, the linear rack 72 is arranged on the side wall of the main arm 6, and the main arm servo motor 71 is set on the arm seat 8 corresponding to the side of the linear rack 72, the drive gear is set on the drive shaft of the main arm servo motor 71, and meshes with the linear rack 72, the cover 73 is set On the arm base 8, and cover the main arm servo motor 71.

Preferably, a cable harness frame 91 is provided on the top surface of the electric box 9 to facilitate the arrangement of the cables of the manipulator.

During work, because the electric box 9 that PLC programmable controller is housed is arranged on the middle bottom position of the lateral wall of the traverse arm in the utility model, the occupied space is effectively reduced, and operation and maintenance can be performed at any time without shutting down. At the same time, since the extraction cylinder 5 is used to drive the extraction arm 4 to slide laterally on the horizontal slide rail, compared with the traditional belt or chain drive assembly, it not only effectively simplifies the overall structure, but also greatly improves the lateral movement speed of the extraction arm 4. Then work efficiency is improved, and the lifting action of the main arm 6 is realized by the cooperation of the drive gear on the main arm servo motor 71 and the linear rack 72. The lifting action has good stability and fast speed, further improving the working efficiency of the manipulator.

According to the disclosure and teaching of the above specification, those skilled in the art to which the present utility model belongs can also change and modify the above embodiment. Therefore, the utility model is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the utility model should also fall within the scope of protection of the claims of the utility model. In addition, although some specific terms are used in this specification, these terms are only for convenience of description, and do not constitute any limitation to the present invention. The use of other manipulators identical or similar thereto is within the protection scope of the present invention.

Claims (5)

1. a kind of full servo Quick mechanical handss of two axles it is characterised in that it include bearing, horizontal walk arm, lateral driver device, pulling Arm, pulling cylinder, principal arm, principal arm driving means, arm seat, electronic box and PLC, described horizontal walk arm be arranged on On seat, one end of described pulling arm by horizontal slide rail be movably arranged on horizontal walk arm on, described lateral driver device is arranged on and draws Pull out on arm, and pulling arm can be driven to slide laterally in horizontal slide rail, described arm seat is movably arranged on by longitudinal slide rail In pulling arm, described pulling cylinder is arranged in pulling arm, and arm seat can be driven to make longitudinal sliding motion in longitudinal slide rail, described Principal arm is movably arranged on arm seat by vertical slide rail, and described principal arm driving means are arranged on arm seat, and can drive principal arm Make vertical displacement movement with respect to arm seat, described electronic box be arranged on horizontal walk arm lateral wall central bottom position, described PLC can Programmable controller is arranged in this electronic box, and is connected with described lateral driver device, pulling cylinder and principal arm driving means respectively Connect.

2. the full servo Quick mechanical handss of two axles according to claim 1 it is characterised in that：Described lateral driver device includes Cover body, horizontal walk servomotor, horizontal walk slide plate and horizontal belt drive component, described horizontal walk slide plate be movably arranged on described horizontal cunning On rail, described horizontal walk servomotor be vertically set on horizontal walk slide plate on, and by described horizontal belt drive component and described horizontal stroke Walk arm to be connected, described cover body cover cover described horizontal walk slide plate on, and by described horizontal walk servomotor cover.

3. the full servo Quick mechanical handss of two axles according to claim 1 it is characterised in that：Described principal arm driving means include Principal arm servomotor, linear gear rack and driving gear, described linear gear rack is arranged on the side wall of described principal arm, and described principal arm is watched The side position taking motor line correspondence tooth bar is arranged on arm seat, and described driving gear is arranged on the drive of principal arm servomotor On moving axis, and it is meshed with described linear gear rack.

4. the full servo Quick mechanical handss of two axles according to claim 1 it is characterised in that：The top surface of described electronic box is provided with line Cable bundle frame.

5. the two axles full servo Quick mechanical handss according to any one in claim 1-4 it is characterised in that：Described principal arm Lower end be provided with side appearance device.