CN203031607U - Truss mechanical hand structure - Google Patents
Truss mechanical hand structure Download PDFInfo
- Publication number
- CN203031607U CN203031607U CN 201220640872 CN201220640872U CN203031607U CN 203031607 U CN203031607 U CN 203031607U CN 201220640872 CN201220640872 CN 201220640872 CN 201220640872 U CN201220640872 U CN 201220640872U CN 203031607 U CN203031607 U CN 203031607U
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- truss
- crossbeam
- tooth bar
- vertical
- horizontal movement
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Abstract
The utility model discloses a truss mechanical hand structure which comprises a truss and a mechanical hand, wherein the mechanical hand is arranged on the truss. The truss comprises a plurality of supporting portions of a gantry structure. Beams which are used for installing the mechanical hand are arranged on the supporting portion. The mechanical hand is a two-freedom-degree mechanical hand. The mechanical hand comprises a horizontal movement component and a vertical movement component, wherein the horizontal movement component is installed on the beams, and the vertical movement component is vertically installed on the horizontal movement component. A three-jaw clamp holder is connected at the bottom of the vertical movement component. The horizontal movement component and the vertical movement component respectively comprise gears and racks, wherein the gears and the racks are used for driving. The gears and the racks are arranged as oblique teeth which are meshed mutually. The truss mechanical hand structure is simple and reliable in structure and low in cost. The oblique teeth meshing are used for the transmission of the gears and the racks. Mechanical working load is increased, and operating stability is improved.
Description
Technical field
The utility model relates to the automated machine equipment technical field, particularly relates to a kind of truss robot manipulator structure.
Background technology
On automatic industrial manufacturing line, workpiece often need carrying back and forth between streamline and machine tooling station.Realize the lathe loading and unloading at automatic assembly line at present, extensively adopt universal industrial robot or special manipulator.
Universal industrial robot load is big, precision is high, the action is able to programme, but expensive, uses uneconomical under the comparatively simple situation in carrying path.At present, special manipulator generally is used for the lower occasion of required precision, as the lower processing of material bin, location requirement or the loading and unloading link of process equipment etc.Be applicable to that machine tooling station positioning accuracy request is higher, comparatively simply the special manipulator of loading and unloading link is less but carrying is moved again.
Therefore, at above-mentioned technical problem, be necessary to provide a kind of truss robot manipulator structure.
The utility model content
In view of this, the utility model embodiment provides a kind of truss robot manipulator structure, and it is simple in structure, with low cost, precision is higher, realizes workpiece in level and vertical carrying between streamline and corresponding machine tooling station.
To achieve these goals, the technical scheme that provides of the utility model embodiment is as follows:
A kind of truss robot manipulator structure, comprise truss and be located at manipulator on the described truss, described truss comprises the support portion of some gantry structures, described support portion is provided with the crossbeam for installation manipulator, described manipulator is the two-freedom manipulator, manipulator comprises that the horizontal movement assembly that is installed on the crossbeam reaches the vertical motion assemblies that vertically is installed on the horizontal movement assembly, the bottom of described vertical motion assemblies is connected with the three-jaw clamper, described horizontal movement assembly and vertical motion assemblies comprise gear and the tooth bar for transmission respectively, and described gear and tooth bar are made as intermeshing helical teeth.
As further improvement of the utility model, described truss comprises two groups of support group that be arranged in parallel, the connecting portion that each support group comprises two support portions and connects centre position, top, two support portions.
As further improvement of the utility model, described crossbeam is installed on the centre position of described two connecting portions.
As further improvement of the utility model, the intermediate vertical of described crossbeam is provided with the reinforcement column.
As further improvement of the utility model, described horizontal movement assembly comprises horizontal guide rail and the horizontal drive apparatus of being located on the crossbeam, horizontal guide rail is provided with tooth bar, and horizontal drive apparatus comprises the gear of corresponding setting with tooth bar and the servomotor that drives described gear.
As further improvement of the utility model, described vertical motion assemblies comprises vertical guide rail and the vertical drive of being located on the horizontal movement assembly, vertical guide rail is provided with tooth bar, and vertical drive comprises the gear of corresponding setting with tooth bar and the servomotor that drives described gear.
As further improvement of the utility model, described vertical guide rail end is fixed with the tie-beam parallel with crossbeam, and the below, two ends of described tie-beam is arranged with the three-jaw clamper.
In sum, the beneficial effects of the utility model are:
Simple and reliable for structure, cost is low;
The helical teeth engagement is adopted in gear and tooth bar transmission, has increased machine work load, has improved running stability;
Crossbeam is provided with the reinforcement column, adopts and strengthens design, has strengthened the rigidity of crossbeam, has reduced the kinematic error of manipulator at vertical direction, has improved service load;
Be arranged with two three-jaw clampers, can be to both sides lathe station conveying work pieces, high efficiency.
Description of drawings
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, to do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below, apparently, the accompanying drawing that describes below only is some embodiment that put down in writing in the utility model, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the schematic perspective view of the utility model one embodiment truss robot manipulator structure;
Fig. 2 is the schematic perspective view of manipulator in the utility model one embodiment truss robot manipulator structure;
Fig. 3 is the structural representation of vertical motion assemblies middle gear and tooth bar in the utility model one embodiment truss robot manipulator structure.
Wherein:
10 truss, 20 manipulators
12 second support portions, 11 first support portions
The 4th support portion, 13 the 3rd support portions 14
15 first connecting portions, 16 second connecting portions
17 crossbeams 18 are strengthened column
211 horizontal guide rails, 212 horizontal drive apparatus
2111 tooth bars, 2122 servomotors
221 vertical guide rails, 222 vertical drive
2211 tooth bars, 2221 gears
2222 servomotors, 231 tie-beams
232 three-jaw clampers
The specific embodiment
The utility model discloses a kind of truss robot manipulator structure, comprise truss and be located at manipulator on the truss, truss comprises the support portion of some gantry structures, the support portion is provided with the crossbeam for installation manipulator, manipulator is the two-freedom manipulator, manipulator comprises that the horizontal movement assembly that is installed on the crossbeam reaches the vertical motion assemblies that vertically is installed on the horizontal movement assembly, the bottom of vertical motion assemblies is connected with the three-jaw clamper, horizontal movement assembly and vertical motion assemblies comprise that respectively for the gear of transmission and tooth bar, gear and tooth bar are made as intermeshing helical teeth.
Further, truss comprises two groups of support group that be arranged in parallel, the connecting portion that each support group comprises two support portions and connects centre position, top, two support portions.
Further, crossbeam is installed on the centre position of two connecting portions.
Further, the intermediate vertical of crossbeam is provided with the reinforcement column.
Further, the horizontal movement assembly comprises horizontal guide rail and the horizontal drive apparatus of being located on the crossbeam, and horizontal guide rail is provided with tooth bar, and horizontal drive apparatus comprises the gear of corresponding setting with tooth bar and the servomotor of driven wheel.
Further, vertical motion assemblies comprises vertical guide rail and the vertical drive of being located on the horizontal movement assembly, and vertical guide rail is provided with tooth bar, and vertical drive comprises the gear of corresponding setting with tooth bar and the servomotor of driven wheel.
Further, the vertical guide rail end is fixed with the tie-beam parallel with crossbeam, and the below, two ends of tie-beam is arranged with the three-jaw clamper.
The utility model truss robot manipulator structure is simple and reliable, and cost is low; The helical teeth engagement is adopted in gear and tooth bar transmission, has increased machine work load, has improved running stability.
In order to make those skilled in the art person understand technical scheme in the utility model better, below in conjunction with the accompanying drawing among the utility model embodiment, technical scheme among the utility model embodiment is clearly and completely described, obviously, described embodiment only is the utility model part embodiment, rather than whole embodiment.Based on the embodiment in the utility model, those of ordinary skills are not making the every other embodiment that obtains under the creative work prerequisite, all should belong to the scope of the utility model protection.
Ginseng Figure 1 shows that the schematic diagram of the utility model truss robot manipulator structure, truss robot manipulator structure comprise truss 10 and be located at manipulator 20 on the truss 10.
Further, in the present embodiment, the middle position that is positioned at crossbeam 17 also is vertically installed with strengthens column 18, strengthen rigidity that arranging of column 18 can web beam, reduce manipulator at the kinematic error of vertical direction, improve service load.
In conjunction with shown in Figure 2, manipulator 20 is the two-freedom manipulator, comprises that the horizontal movement assembly that is installed on the crossbeam reaches the vertical motion assemblies that vertically is installed on the horizontal movement assembly.
The horizontal movement assembly comprises horizontal guide rail 211 and the horizontal drive apparatus of being located on the crossbeam 17 212, horizontal guide rail 211 is provided with tooth bar 2111, and horizontal drive apparatus 212 comprises and the gear (not shown) of tooth bar 2111 corresponding settings and the servomotor 2122 of driven wheel.During horizontal movement, manipulator 20 drives by servomotor 2122, and gear and tooth bar realize that by the helical teeth transmission manipulator 20 is along the horizontal movement of crossbeam 17.
In conjunction with shown in Figure 3, vertical motion assemblies comprises vertical guide rail 221 and the vertical drive of being located on the horizontal movement assembly 222, vertical guide rail 221 is provided with tooth bar 2211, and vertical drive 222 comprises and the gear 2221 of tooth bar 2211 corresponding settings and the servomotor 2222 of driven wheel 2221.When moving both vertically, manipulator 20 drives by servomotor 2222, and gear 2221 and tooth bar 2211 are realized moving both vertically of manipulator 20 by the helical teeth transmission.
In the utility model, the gear in horizontal movement assembly and the vertical motion assemblies and tooth bar all are made as intermeshing helical teeth, and so arranging to increase machine work load, raising running stability.
Vertical guide rail 221 ends are fixed with the tie-beam 231 parallel with crossbeam 17 in vertical motion assemblies, and the below, two ends of tie-beam 231 is arranged with three-jaw clamper 232.In the work, three-jaw clamper 232 blocks the workpiece inner ring, and manipulator 20 is sent into workpiece on the corresponding machine tooling station then.Preferably, in order to increase work efficiency, manipulator 20 ends have been installed the three-jaw clamper of two symmetries in the present embodiment, respectively to two lathe station conveying work pieces of both sides.
Can be seen that by above technical scheme the truss robot manipulator structure that the utility model embodiment provides has following beneficial effect:
Simple and reliable for structure, cost is low;
The helical teeth engagement is adopted in gear and tooth bar transmission, has increased machine work load, has improved running stability;
Crossbeam is provided with the reinforcement column, adopts and strengthens design, has strengthened the rigidity of crossbeam, has reduced the kinematic error of manipulator at vertical direction, has improved service load;
Be arranged with two three-jaw clampers, can be to both sides lathe station conveying work pieces, high efficiency.
To those skilled in the art, obviously the utility model is not limited to the details of above-mentioned one exemplary embodiment, and under the situation that does not deviate from spirit of the present utility model or essential characteristic, can realize the utility model with other concrete form.Therefore, no matter from which point, all should regard embodiment as exemplary, and be nonrestrictive, scope of the present utility model is limited by claims rather than above-mentioned explanation, therefore is intended to include in the utility model dropping on the implication that is equal to important document of claim and all changes in the scope.Any Reference numeral in the claim should be considered as limit related claim.
In addition, be to be understood that, though this specification is described according to embodiment, but be not that each embodiment only comprises an independently technical scheme, this narrating mode of specification only is for clarity sake, those skilled in the art should make specification as a whole, and the technical scheme among each embodiment also can form other embodiments that it will be appreciated by those skilled in the art that through appropriate combination.
Claims (7)
1. truss robot manipulator structure, comprise truss and be located at manipulator on the described truss, it is characterized in that, described truss comprises the support portion of some gantry structures, described support portion is provided with the crossbeam for installation manipulator, described manipulator is the two-freedom manipulator, manipulator comprises that the horizontal movement assembly that is installed on the crossbeam reaches the vertical motion assemblies that vertically is installed on the horizontal movement assembly, the bottom of described vertical motion assemblies is connected with the three-jaw clamper, described horizontal movement assembly and vertical motion assemblies comprise gear and the tooth bar for transmission respectively, and described gear and tooth bar are made as intermeshing helical teeth.
2. truss robot manipulator structure according to claim 1 is characterized in that, described truss comprises two groups of support group that be arranged in parallel, the connecting portion that each support group comprises two support portions and connects centre position, top, two support portions.
3. truss robot manipulator structure according to claim 2 is characterized in that, described crossbeam is installed on the centre position of described two connecting portions.
4. truss robot manipulator structure according to claim 1 is characterized in that, the intermediate vertical of described crossbeam is provided with the reinforcement column.
5. truss robot manipulator structure according to claim 1, it is characterized in that, described horizontal movement assembly comprises horizontal guide rail and the horizontal drive apparatus of being located on the crossbeam, horizontal guide rail is provided with tooth bar, and horizontal drive apparatus comprises the gear of corresponding setting with tooth bar and the servomotor that drives described gear.
6. truss robot manipulator structure according to claim 5, it is characterized in that, described vertical motion assemblies comprises vertical guide rail and the vertical drive of being located on the horizontal movement assembly, vertical guide rail is provided with tooth bar, and vertical drive comprises the gear of corresponding setting with tooth bar and the servomotor that drives described gear.
7. truss robot manipulator structure according to claim 6 is characterized in that, described vertical guide rail end is fixed with the tie-beam parallel with crossbeam, and the below, two ends of described tie-beam is arranged with the three-jaw clamper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220640872 CN203031607U (en) | 2012-11-28 | 2012-11-28 | Truss mechanical hand structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220640872 CN203031607U (en) | 2012-11-28 | 2012-11-28 | Truss mechanical hand structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203031607U true CN203031607U (en) | 2013-07-03 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220640872 Expired - Fee Related CN203031607U (en) | 2012-11-28 | 2012-11-28 | Truss mechanical hand structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203031607U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102922520A (en) * | 2012-11-28 | 2013-02-13 | 苏州久工自动化科技有限公司 | Structure of truss manipulator |
| CN104842207A (en) * | 2015-04-30 | 2015-08-19 | 武汉薪火智能切割机器有限公司 | Intelligent movement material conveying device for gantry crane |
| CN104960932A (en) * | 2015-06-26 | 2015-10-07 | 洛阳中冶重工机械有限公司 | Stacking machine |
| CN105150228A (en) * | 2015-09-10 | 2015-12-16 | 卓达新材料科技集团有限公司 | Wind power sucker mechanism |
| CN105364907A (en) * | 2015-11-17 | 2016-03-02 | 盐城苏工高科机械有限公司 | Heavy type three-axis gantry type manipulator |
| CN105415360A (en) * | 2015-10-30 | 2016-03-23 | 中信戴卡股份有限公司 | Bar material mechanical carrying device |
| CN106002975A (en) * | 2016-07-28 | 2016-10-12 | 苏州高通机械科技有限公司 | Assembled cabinet type multi-directional manipulator running mechanism |
| CN106142059A (en) * | 2016-07-28 | 2016-11-23 | 苏州高通机械科技有限公司 | A kind of split type Multidirectional motion robot device |
| CN108080611A (en) * | 2018-01-31 | 2018-05-29 | 宁夏巨能机器人股份有限公司 | A kind of casting sand core carries the shell structure of truss manipulator |
| CN113714460A (en) * | 2021-09-03 | 2021-11-30 | 北京机电研究所有限公司 | Automatic feeding equipment for aviation forgings based on machine vision |
-
2012
- 2012-11-28 CN CN 201220640872 patent/CN203031607U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102922520A (en) * | 2012-11-28 | 2013-02-13 | 苏州久工自动化科技有限公司 | Structure of truss manipulator |
| CN104842207A (en) * | 2015-04-30 | 2015-08-19 | 武汉薪火智能切割机器有限公司 | Intelligent movement material conveying device for gantry crane |
| CN104960932B (en) * | 2015-06-26 | 2017-07-28 | 洛阳中冶重工机械有限公司 | A kind of stacking machine |
| CN104960932A (en) * | 2015-06-26 | 2015-10-07 | 洛阳中冶重工机械有限公司 | Stacking machine |
| CN105150228A (en) * | 2015-09-10 | 2015-12-16 | 卓达新材料科技集团有限公司 | Wind power sucker mechanism |
| CN105415360A (en) * | 2015-10-30 | 2016-03-23 | 中信戴卡股份有限公司 | Bar material mechanical carrying device |
| CN105364907A (en) * | 2015-11-17 | 2016-03-02 | 盐城苏工高科机械有限公司 | Heavy type three-axis gantry type manipulator |
| CN106002975A (en) * | 2016-07-28 | 2016-10-12 | 苏州高通机械科技有限公司 | Assembled cabinet type multi-directional manipulator running mechanism |
| CN106142059A (en) * | 2016-07-28 | 2016-11-23 | 苏州高通机械科技有限公司 | A kind of split type Multidirectional motion robot device |
| CN108080611A (en) * | 2018-01-31 | 2018-05-29 | 宁夏巨能机器人股份有限公司 | A kind of casting sand core carries the shell structure of truss manipulator |
| CN108080611B (en) * | 2018-01-31 | 2024-04-02 | 宁夏巨能机器人股份有限公司 | Shell structure of casting sand core carrying truss manipulator |
| CN113714460A (en) * | 2021-09-03 | 2021-11-30 | 北京机电研究所有限公司 | Automatic feeding equipment for aviation forgings based on machine vision |
| CN113714460B (en) * | 2021-09-03 | 2023-06-30 | 中国机械总院集团北京机电研究所有限公司 | Automatic feeding equipment for aviation forgings based on machine vision |
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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: 20130703 Termination date: 20151128 |