CN2846050Y - Robot with ball-screw suspension arm structure - Google Patents
Robot with ball-screw suspension arm structure Download PDFInfo
- Publication number
- CN2846050Y CN2846050Y CN 200520087543 CN200520087543U CN2846050Y CN 2846050 Y CN2846050 Y CN 2846050Y CN 200520087543 CN200520087543 CN 200520087543 CN 200520087543 U CN200520087543 U CN 200520087543U CN 2846050 Y CN2846050 Y CN 2846050Y
- Authority
- CN
- China
- Prior art keywords
- screw
- cantilever
- arm
- auxiliary
- leading screw
- 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 a manipulator with a rolling ball screw rod suspension arm structure, which has the structure that a rolling ball screw rod drive mechanism is arranged on a suspension arm, a main arm and an auxiliary arm are connected with a screw nut, simultaneously, the rotation of a screw rod can drive the screw nut and can be transmitted to the main arm and the auxiliary arm for doing reciprocal motion through the screw nut, thereby, the main arm and the auxiliary arm can be driven to carry out guiding and pulling action along a transverse direction of the suspension arm by controlling the steering and the circling of the screw rod. 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 weight of the entire suspension arm can be effectively decreased. The screw rod is arranged on the suspension arm, the screw rod is connected between both sides of a frame of the sectional material of the suspension arm transversely through fixed seats at both sides of the screw rod and one side of the screw rod is connected and assembled with a stepping motor. One side which is connected with the suspension arm is connected with a fixed seat which is connected with the screw nut on the frame of the sectional material of the main arm or the auxiliary arm, and simultaneously, the screw nut is sheathed and engaged with the peripheral side of the screw rod.
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 industries such as injection moulding, 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 ball-screw cantilever design described in the utility model, its purpose is to address the above problem and is not enough and cantilever is provided with the ball-screw transmission mechanism, main, auxiliary is connected with screw, the rotation of leading screw drives screw simultaneously and gives main by the screw transmission, auxiliary moves back and forth, thereby drive the master by turning to and turn-taking of control leading screw, auxiliary moves along the pulling of carrying out in a lateral direction of cantilever, thereby in the location, principal arm or auxiliary selected stop place can be moved to exactly in the process of processing component of taking, and the weight of whole cantilever can be effectively reduced.
Described manipulator with ball-screw 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 leading screw that is arranged on the cantilever, and leading screw is connected between the both lateral sides of cantilever style profile framework by the holder of both sides, connects and motor in order to drive is installed in leading screw one side.
Under the driving of motor, leading screw is done clockwise or counterclockwise rotation in the both lateral sides of cantilever style profile framework.
A side that is connected with cantilever connects a holder that is connected with screw on the section material framework of principal arm or auxiliary, screw socket simultaneously is engaged in the outer circumferential side of leading screw.
When leading screw rotated, the motive force that screw is produced by the engagement of its internal thread and leading screw drove principal arm or auxiliary is realized moving back and forth along the horizontal direction of cantilever by the screw holder, and then realized the pulling campaign at the cantilevered axle side direction of principal arm or auxiliary.
As the manipulator with ball-screw cantilever design of above-mentioned structure, the pulling direction and the displacement of principal arm or auxiliary, turning to and rotate the number of turns and decide by motor-driven leading screw rotation.
For realizing being connected and driving output between motor and leading screw, be provided with the motor fixing seat of connection motor at the cantilever style profile framework, between motor fixing seat and leading screw holder, a shaft coupling is set, shaft coupling connects the output shaft of leading screw and motor respectively.
Further improvement project is, is provided with the leading screw and the motor of the above-mentioned structure of 2 covers on the cantilever style profile framework abreast, and 2 cover mechanisms are connected with the auxiliary component framework with the principal arm component framework by the screw holder respectively.
For guaranteeing that principal arm and auxiliary leading screw are independent of each other, connect 2 cover leading screws of principal arm component framework and auxiliary component framework and top and the bottom that motor is separately positioned on the cantilever style profile framework.
As mentioned above, advantage and the beneficial effect with manipulator of ball-screw cantilever design is:
1, adopts the transmission mechanism that meshes by motor-driven leading screw and screw, can control the moving direction and the distance of screw, thereby realize that major and minor arm carries out the location of pulling action, the accuracy of range ability on cantilever by motor;
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 ball-screw cantilever design.
Have base 1, cantilever 2, principal arm 3, auxiliary 4 as shown in Figure 1;
Principal arm assembly 31, principal arm leading screw 32, leading screw holder 33, principal arm stepper motor 34, motor fixing seat 35, shaft coupling 36, principal arm screw 37, screw holder 38;
Auxiliary assembly 41, auxiliary leading screw 42, leading screw holder 43, auxiliary stepper motor 44, motor fixing seat 45, shaft coupling 46, auxiliary screw 47, screw holder 48.
The specific embodiment
Embodiment 1, as shown in Figure 1, described manipulator with ball-screw cantilever design, above its basis connection base 1, trunnion axis establishes one can be along the reciprocating horizontal cantilever 2 of base support.
Be connected with principal arm 3 and auxiliary 4 in the same side of cantilever 2.
Top at the section material framework of cantilever 2 is provided with principal arm leading screw 32, principal arm leading screw 32 is connected the both lateral sides of the section material framework of cantilever 2 by the holder 33 of both sides, at the principal arm stepper motor 34 of principal arm leading screw 32 1 side settings by motor fixing seat 35 connections, one shaft coupling 36 is set between motor fixing seat 35 and leading screw holder 33, and shaft coupling 36 connects the output shaft of leading screw 32 and stepper motor 34 respectively.
A side that is connected with cantilever 2 connects a holder 38 that is connected with screw 37 on principal arm assembly 31, screw 37 sockets simultaneously are engaged in the outer circumferential side of leading screw 32.
Bottom at the section material framework of cantilever 2 is provided with auxiliary leading screw 42, auxiliary leading screw 42 is connected the both lateral sides of the section material framework of cantilever 2 by the holder 43 of both sides, at the auxiliary stepper motor 44 of auxiliary leading screw 42 1 side settings by motor fixing seat 45 connections, one shaft coupling 46 is set between motor fixing seat 45 and leading screw holder 43, and shaft coupling 46 connects the output shaft of leading screw 42 and stepper motor 44 respectively.
A side that is connected with cantilever 2 connects a holder 48 that is connected with screw 47 on auxiliary assembly 41, screw 47 sockets simultaneously are engaged in the outer circumferential side of leading screw 42.
Under the driving of stepper motor 34,44, leading screw 32,42 is done clockwise or counterclockwise rotation in the both lateral sides of the section material framework of cantilever 2 respectively.
When leading screw 32,42 rotations, screw 37,47 is the motive force that engagement produced by its internal thread respectively, drive principal arms 3 and auxiliary 4 is realized moving back and forth along the horizontal direction of cantilever 2 by screw holder 38,48, promptly in the pulling campaign of 2 side directions of cantilever.
Claims (4)
1, a kind of manipulator with ball-screw 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 leading screw that is arranged on the cantilever, leading screw is connected between the both lateral sides of cantilever style profile framework by the holder of both sides, connects and drive motors is installed in leading screw one side;
A side that is connected with cantilever connects a holder that is connected with screw on the section material framework of principal arm or auxiliary, screw socket simultaneously is engaged in the outer circumferential side of leading screw.
2, the manipulator with ball-screw cantilever design according to claim 1, it is characterized in that: be provided with the motor fixing seat that connects motor at the cantilever style profile framework, between motor fixing seat and leading screw holder a shaft coupling is set, shaft coupling connects the output shaft of leading screw and drive motors respectively.
3, the manipulator with ball-screw cantilever design according to claim 1 and 2, it is characterized in that: be provided with the leading screw and the drive motors of the above-mentioned structure of 2 covers on the cantilever style profile framework abreast, 2 cover mechanisms are connected with the auxiliary section material framework with the principal arm section material framework by the screw holder respectively.
4, the manipulator with ball-screw cantilever design according to claim 3 is characterized in that: connect 2 cover leading screws of principal arm section material framework and auxiliary section material framework and top and the bottom that drive motors is separately positioned on the cantilever style profile framework.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520087543 CN2846050Y (en) | 2005-09-24 | 2005-09-24 | Robot with ball-screw suspension arm structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520087543 CN2846050Y (en) | 2005-09-24 | 2005-09-24 | Robot with ball-screw suspension arm structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2846050Y true CN2846050Y (en) | 2006-12-13 |
Family
ID=37511468
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200520087543 Expired - Fee Related CN2846050Y (en) | 2005-09-24 | 2005-09-24 | Robot with ball-screw suspension arm structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2846050Y (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101856814A (en) * | 2010-04-28 | 2010-10-13 | 四川大学 | Tower climbing robot manipulator |
| CN103009031A (en) * | 2012-10-23 | 2013-04-03 | 宁波飞图自动技术有限公司 | Special electric transmission pick-and-place manipulator for automatic assembly line/machine |
| CN104734415A (en) * | 2015-03-16 | 2015-06-24 | 河南摩西机械制造有限公司 | Speed reducing motor |
-
2005
- 2005-09-24 CN CN 200520087543 patent/CN2846050Y/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101856814A (en) * | 2010-04-28 | 2010-10-13 | 四川大学 | Tower climbing robot manipulator |
| CN101856814B (en) * | 2010-04-28 | 2011-10-05 | 四川大学 | Tower climbing robot manipulator |
| CN103009031A (en) * | 2012-10-23 | 2013-04-03 | 宁波飞图自动技术有限公司 | Special electric transmission pick-and-place manipulator for automatic assembly line/machine |
| CN103009031B (en) * | 2012-10-23 | 2014-11-19 | 宁波飞图自动技术有限公司 | Special electric transmission pick-and-place manipulator for automatic assembly line/machine |
| CN104734415A (en) * | 2015-03-16 | 2015-06-24 | 河南摩西机械制造有限公司 | Speed reducing motor |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1278796C (en) | Hortzontal regulation device of auxiliarg apparatus | |
| CN2678795Y (en) | Continuous prodn. appts. for straightening, shearing and bending reinforced bar | |
| CN106826900B (en) | Adjustable manipulator | |
| CN108406203B (en) | A location frock for automobile mold processing | |
| CN2846050Y (en) | Robot with ball-screw suspension arm structure | |
| CN1119580A (en) | Apparatus for reciprocating driving punch | |
| CN101056023A (en) | Motor coil expansion method and full servo digital control motor coil expander | |
| CN2834805Y (en) | Manipulator having rack driven suspension arm structure | |
| CN2834804Y (en) | Manipulator having suspension arm mechanism with driving belt thereon | |
| CN1304192C (en) | Mechanical presser | |
| CN208513550U (en) | A kind of automobile chair frame apparatus for bending | |
| CN201997985U (en) | Clamping and stepping device for automatic production line of reinforcing steel bar truss | |
| CN2855658Y (en) | Manipulator having two main arms structure | |
| CN1743097A (en) | Concrete-bar straightening cutting machine | |
| CN215316838U (en) | Device for screwing engine connecting rod | |
| CN216304312U (en) | Double-grinding-head steel rail weld beading grinding machine | |
| CN200962555Y (en) | Internal arrange-line coiling machine | |
| CN2794738Y (en) | Novel plane grinder | |
| CN2834807Y (en) | Manipulator | |
| CN2736103Y (en) | Plane grinding machine | |
| CN2829981Y (en) | Clamping appts | |
| CN219726301U (en) | Automatic change robot transformation platform | |
| CN2828080Y (en) | Mechanism for lifting pressre of sewing machine | |
| CN208305053U (en) | A kind of rotation and lifting structure of mechanical arm | |
| CN108458150B (en) | Electric straight-travel valve actuator |
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 |