CN202934565U - Five-shaft double-arm multifunctional robot - Google Patents
Five-shaft double-arm multifunctional robot Download PDFInfo
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- CN202934565U CN202934565U CN 201220597626 CN201220597626U CN202934565U CN 202934565 U CN202934565 U CN 202934565U CN 201220597626 CN201220597626 CN 201220597626 CN 201220597626 U CN201220597626 U CN 201220597626U CN 202934565 U CN202934565 U CN 202934565U
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Abstract
The utility model discloses a five-shaft double-arm multifunctional robot which comprises a coordinate gripping device, a guide track device connected with the coordinate gripping device, a driving device connected with the guide track device and driving the guide track device to move, and a controller connected with the driving device. The robot can freely move through the guide track toward all directions inside a space, with flexibility in movement, can grip heavy articles at dead angles, is high in working efficiency and convenient to operate.
Description
Technical field
The utility model relates to a kind of manipulator, especially a kind of five axle both arms multifunction manipulators with guide rail.
Background technology
Manipulator can imitate some holding function of staff and arm, in order to the automatic pilot by fixed routine crawl, carrying object or operation tool; Manipulator is the industrial robot that occurs the earliest; also the modern machines people who occurs the earliest; mechanization and the automation of its alternative people's heavy work to realize producing; can operate under hostile environment with the protection personal safety, thereby be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.Though existing manipulator can have been removed weight, very flexible, the direction of motion is single, inefficiency, inconvenient operation.
The utility model content
Technical problem to be solved in the utility model is to provide a kind of five axle both arms multifunction manipulators with track-type facilities, this manipulator can be by guide rail one way or another freely-movable in the space, and motion can be grasped the dead angle weight flexibly, high efficiency, easy to operate.
In order to solve existing technical problem, the technical scheme that the utility model is taked is: a kind of five axle both arms multifunction manipulators, it is characterized in that, comprise coordinate gripping device, the track-type facilities that is connected with this coordinate gripping device, be connected with this track-type facilities and drive the drive unit of its operation and the controller that is connected with described drive unit, wherein:
Coordinate gripping device, comprise pedestal, be arranged on pedestal Rotary cloumn with vertical chute, be arranged on described Rotary cloumn top and Rotary cloumn vertical be connected and can along described vertical chute up and down vertical mobile crossbeam, an end be connected with described beam vertical and the cantilever that can move horizontally along described crossbeam axis direction and with the vertical goods catching robot that is connected and can moves horizontally along this cantilever axis direction of this cantilever;
Track-type facilities, comprise the first track-type facilities and the second track-type facilities, described the first track-type facilities is arranged between described crossbeam and described cantilever, described the first track-type facilities comprises that two are laid on the slide rail arranged side by side of first on described crossbeam and are tiled in the first tooth bar on this slide rail, the setting corresponding to described cantilever of this tooth bar; Described the second track-type facilities is arranged on the junction of described cantilever and described manipulator, described the second track-type facilities comprises that two are laid on the guide rail arranged side by side of second on described cantilever and are tiled in the second tooth bar on this slide rail, the setting corresponding to described manipulator of this tooth bar;
Drive unit, comprise the first drive unit and the second drive unit, described the first drive unit comprises the first motor and the first swing pinion that is connected with this first motor output shaft, described the first motor is fixedly connected with described cantilever, described the first swing pinion is meshed with described the first tooth bar, and the relative motion of this first swing pinion and the first tooth bar drives the relative motion of cantilever and described crossbeam; Described the second drive unit comprises the second motor and the second swing pinion that is connected with this motor output shaft, described the second motor is fixedly connected with described manipulator, described the second swing pinion is meshed with described the second tooth bar, and the relative motion driving mechanical hand of this second swing pinion and the second tooth bar is made horizontal rectilinear motion on described cantilevered rail;
Above-mentioned a kind of five axle both arms multifunction manipulators, described goods catching robot comprises that its two ends are placed on described cantilevered rail and the transfer arm that is fixedly connected with described the second motor, be located at respectively the support plate of moving end-wall both sides, by the swing arm of hinge hinge at this support plate two ends, be interval with a plurality of frameworks or a plurality of projection in this swing arm.
Above-mentioned a kind of five axle both arms multifunction manipulators, described Rotary cloumn is connected with output shaft in pedestal by left and right column fixed block and the right angle contiguous block of its bottom, this output shaft is fixed on pedestal by thrust bearing, journal bearing and key, and is connected with power machine output shaft.
Above-mentioned a kind of five axle both arms multifunction manipulators, be provided with vertical elevator belt in vertical chute on described Rotary cloumn, be fixed with moving member on elevator belt, be connected with crossbeam by moving member, elevator belt is meshed with the drive that is positioned at the chute above and below, and wherein a drive is located on the engine main shaft.
Above-mentioned a kind of five axle both arms multifunction manipulators, described controller respectively with described the first drive unit in the first drive motors be connected with second drive motors of being connected in drive unit.
The beneficial effects of the utility model are: this manipulator can be by guide rail one way or another freely-movable in the space, and motion can be grasped the dead angle weight flexibly, and high efficiency is easy to operate.
Description of drawings
Fig. 1 is front view of the present utility model
Fig. 2 is side view of the present utility model
Fig. 3 is top view of the present utility model
Fig. 4 is the partial sectional view of Fig. 1 bottom
Fig. 5 is the cutaway view of the utility model Rotary cloumn
The specific embodiment
A kind of five axle both arms multifunction manipulators comprise coordinate gripping device, the track-type facilities that is connected with this coordinate gripping device, are connected with this track-type facilities and drive the drive unit of its operation and the controller that is connected with drive unit, wherein:
As shown in Figure 1, coordinate gripping device, comprise pedestal 110, be arranged on pedestal Rotary cloumn 120 with vertical chute, be arranged on described Rotary cloumn top and Rotary cloumn vertical be connected and can along vertical chute up and down vertical mobile crossbeam 130, an end be connected with beam vertical and the cantilever 140 that can move horizontally along described crossbeam axis direction and with the vertical goods catching robot 150 that is connected and can moves horizontally along this cantilever axis direction of this cantilever; By crossbeam 130 moving up and down in the chute of Rotary cloumn 120, realize moving up and down of manipulator, motion driving mechanical hand 150 by cantilever 140 on crossbeam 130 is towards inside and outside direction motion, by the horizontal movement of manipulator 150 on cantilever 140, realize that manipulator 150 moves towards left and right directions.
As shown in Figure 3, track-type facilities, comprise the first track-type facilities 210 and the second track-type facilities 220, the first track-type facilities 210 is arranged between crossbeam 130 and cantilever 140, the first track-type facilities 210 comprises that two are laid on the slide rail 211 arranged side by side of first on described crossbeam and are tiled in the first tooth bar 212 on this slide rail, this first tooth bar 212 and the corresponding setting of described cantilever 140; The second track-type facilities 220 is arranged on the junction of cantilever 140 and manipulator 150, described the second track-type facilities 220 comprises that two are laid on the guide rail 221 arranged side by side of second on described cantilever and are tiled in the second tooth bar 222 on this slide rail, the setting corresponding to manipulator 150 of this second tooth bar 222; After guide rail was set, the component movement on guide rail was steady, made the direction of motion of manipulator 150 clear and definite, easy to operate.
In Fig. 3, drive unit, comprise the first drive unit 310 and the second drive unit 320, the first drive unit 310 comprises the first motor 311 and the first swing pinion 312 that is connected with these the first motor 311 output shafts, the first motor 311 is fixedly connected with cantilever 140, the first swing pinion 312 is meshed with the first tooth bar 212, and the relative motion of this first swing pinion 312 and the first tooth bar 212 drives the relative motion of cantilever 140 and crossbeam 130; The second drive unit 320 comprises the second motor 321 and the second swing pinion 322 that is connected with this second motor output shaft, the second motor 321 is fixedly connected with manipulator 150, the second swing pinion 322 is meshed with the second tooth bar 222, and the relative motion driving mechanical hand 150 of this second swing pinion 322 and the second tooth bar 222 is made horizontal rectilinear motion on cantilever 140 guide rails;
As shown in Figure 2, goods catching robot 150 comprises that its two ends are placed on described cantilevered rail and the transfer arm 151 that is fixedly connected with motor 2, be located at respectively the support plate 152 of moving end-wall both sides, by the swing arm 153 of hinge hinge at this support plate two ends, be interval with a plurality of frameworks or a plurality of projection 154 in this swing arm, after goods is placed into framework 154, goods is taken to the place of appointment by the motion of moving end-wall 151, then unload goods by the swing of swing arm 153.
In Fig. 4, Rotary cloumn 120 is connected with output shaft 124 in pedestal by left column fixed block 122, right column fixed block 121 and the right angle contiguous block 123 of its bottom, this output shaft is fixed on pedestal 110 by thrust bearing 125, journal bearing 126 and key 127, and be connected with engine 128 output shafts, rotate the rotation of output shaft 124 driven rotary columns 120 in order to drive output shaft 124 under the driving of engine 128.
In Fig. 5, be provided with vertical elevator belt 410 in vertical chute on Rotary cloumn, be fixed with moving member 420 on elevator belt, be connected with crossbeam 130 by moving member, elevator belt 410 is meshed with the drive 430,440 that is positioned at the chute above and below, wherein a drive 440 is located on engine 450 main shafts, engine 450 rotates and drives drive 440 rotations, elevator belt 410 also can be along with rotation, moving member 420 on elevator belt will move up and down in vertical chute, and moving member 420 is fixedly connected with crossbeam 130, and crossbeam 130 also can move up and down thereupon.
Controller (not providing) respectively with the first drive unit 310 in the first drive motors 311 be connected with second drive motors 321 of being connected in drive unit 320, control the Push And Release of drive motors.
In sum, it is only preferred embodiment of the present utility model, be not to limit the scope that the utility model is implemented, all equalizations of doing according to the described shape of the utility model claim scope, structure, feature and spirit change and modify, and all should be included in claim scope of the present utility model.
Claims (5)
1. axle both arms multifunction manipulator, it is characterized in that, comprise coordinate gripping device, the track-type facilities that is connected with this coordinate gripping device, be connected with this track-type facilities and drive the drive unit of its operation and the controller that is connected with described drive unit, wherein:
Coordinate gripping device, comprise pedestal, be arranged on pedestal Rotary cloumn with vertical chute, be arranged on described Rotary cloumn top and Rotary cloumn vertical be connected and can along described vertical chute up and down vertical mobile crossbeam, an end be connected with described beam vertical and the cantilever that can move horizontally along described crossbeam axis direction and with the vertical goods catching robot that is connected and can moves horizontally along this cantilever axis direction of this cantilever;
Track-type facilities, comprise the first track-type facilities and the second track-type facilities, described the first track-type facilities is arranged between described crossbeam and described cantilever, described the first track-type facilities comprises that two are laid on the slide rail arranged side by side of first on described crossbeam and are tiled in the first tooth bar on this slide rail, the setting corresponding to described cantilever of this tooth bar; Described the second track-type facilities is arranged on the junction of described cantilever and described manipulator, described the second track-type facilities comprises that two are laid on the guide rail arranged side by side of second on described cantilever and are tiled in the second tooth bar on this slide rail, the setting corresponding to described manipulator of this tooth bar;
Drive unit, comprise the first drive unit and the second drive unit, described the first drive unit comprises the first motor and the first swing pinion that is connected with this first motor output shaft, described the first motor is fixedly connected with described cantilever, described the first swing pinion is meshed with described the first tooth bar, and the relative motion of this first swing pinion and the first tooth bar drives the relative motion of cantilever and described crossbeam; Described the second drive unit comprises the second motor and the second swing pinion that is connected with this motor output shaft, described the second motor is fixedly connected with described manipulator, described the second swing pinion is meshed with described the second tooth bar, and the relative motion driving mechanical hand of this second swing pinion and the second tooth bar is made horizontal rectilinear motion on described cantilevered rail;
2. a kind of five axle both arms multifunction manipulators according to claim 1, it is characterized in that, described goods catching robot comprises that its two ends are placed on described cantilevered rail and the transfer arm that is fixedly connected with described the second motor, be located at respectively the support plate of moving end-wall both sides, by the swing arm of hinge hinge at this support plate two ends, be interval with a plurality of frameworks or a plurality of projection in this swing arm.
3. a kind of five axle both arms multifunction manipulators according to claim 1, it is characterized in that, described Rotary cloumn is connected with output shaft in pedestal by left and right column fixed block and the right angle contiguous block of its bottom, this output shaft is fixed on pedestal by thrust bearing, journal bearing and key, and is connected with power machine output shaft.
4. according to claim 1 or 3 described a kind of five axle both arms multifunction manipulators, it is characterized in that, be provided with vertical elevator belt in vertical chute on described Rotary cloumn, be fixed with moving member on elevator belt, be connected with crossbeam by moving member, elevator belt is meshed with the drive that is positioned at the chute above and below, and wherein a drive is located on the engine main shaft.
5. a kind of five axle both arms multifunction manipulators according to claim 1, is characterized in that, described controller respectively with described the first drive unit in the first drive motors be connected with second drive motors of being connected in drive unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220597626 CN202934565U (en) | 2012-11-13 | 2012-11-13 | Five-shaft double-arm multifunctional robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220597626 CN202934565U (en) | 2012-11-13 | 2012-11-13 | Five-shaft double-arm multifunctional robot |
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| Publication Number | Publication Date |
|---|---|
| CN202934565U true CN202934565U (en) | 2013-05-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220597626 Expired - Fee Related CN202934565U (en) | 2012-11-13 | 2012-11-13 | Five-shaft double-arm multifunctional robot |
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| CN (1) | CN202934565U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103522280A (en) * | 2013-09-30 | 2014-01-22 | 宁波伊泽机器人有限公司 | Multifunctional double-arm robot |
| CN103600988A (en) * | 2013-09-30 | 2014-02-26 | 宁波伊泽机器人有限公司 | Feeding robot |
| 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 |
| CN104174781A (en) * | 2014-08-19 | 2014-12-03 | 湖北中航精机科技有限公司 | Manipulator for transferring core-wrapped punched workpieces |
| CN104669085A (en) * | 2013-11-29 | 2015-06-03 | 徐建 | Five-axis two-joint servo deburring robot |
| CN104985592A (en) * | 2015-07-17 | 2015-10-21 | 付建生 | Five-axis linkage robot |
| CN108908310A (en) * | 2018-07-17 | 2018-11-30 | 谢玲俊 | A kind of agile manufactruing device of integrated multi-robot integration of operation |
| CN110293547A (en) * | 2019-07-28 | 2019-10-01 | 南京驭逡通信科技有限公司 | A kind of cargo grabbing device and grasping system for industrial robot |
-
2012
- 2012-11-13 CN CN 201220597626 patent/CN202934565U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN103522280A (en) * | 2013-09-30 | 2014-01-22 | 宁波伊泽机器人有限公司 | Multifunctional double-arm robot |
| CN103600988A (en) * | 2013-09-30 | 2014-02-26 | 宁波伊泽机器人有限公司 | Feeding robot |
| CN103600988B (en) * | 2013-09-30 | 2016-05-18 | 宁波伊泽机器人有限公司 | Feeding robot |
| CN104669085A (en) * | 2013-11-29 | 2015-06-03 | 徐建 | Five-axis two-joint servo deburring robot |
| CN104174781A (en) * | 2014-08-19 | 2014-12-03 | 湖北中航精机科技有限公司 | Manipulator for transferring core-wrapped punched workpieces |
| CN104174781B (en) * | 2014-08-19 | 2017-03-08 | 湖北中航精机科技有限公司 | A kind of transmission cored rushes the manipulator of workpiece |
| CN104985592A (en) * | 2015-07-17 | 2015-10-21 | 付建生 | Five-axis linkage robot |
| CN108908310A (en) * | 2018-07-17 | 2018-11-30 | 谢玲俊 | A kind of agile manufactruing device of integrated multi-robot integration of operation |
| CN110293547A (en) * | 2019-07-28 | 2019-10-01 | 南京驭逡通信科技有限公司 | A kind of cargo grabbing device and grasping system for industrial robot |
| CN110293547B (en) * | 2019-07-28 | 2020-11-06 | 南京驭逡通信科技有限公司 | A goods grabbing device for industrial robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130515 Termination date: 20151113 |