Manipulator telescopic arm
The manipulator telescopic arm,the base plate is fixed on the boom,and the front flange is installed with the manipulator to complete the linear telescopic action.The electric telescopic arm mainly consists of a motor,a transmission gear,a bearing group,a ball screw,a guide rail,etc.The AC torque motor drives the ball screw through the transmission gear to drive the guide rod to move.The motor rotates forward and backward to achieve expansion and contraction.The two-way thrust bearing assembly ensures the stability of the lead screw.The maximum expansion and positioning is achieved by hitting the limit switch with the impactor on the guide rod.When the impactor hits the right switch,the maximum extension displacement is reached,and when the impactor hits the left switch,the maximum contraction displacement is reached.
The manipulator includes a vertical motion mechanism that drives the vertical motion of the telescopic arm,a swinging arm motion mechanism that drives the telescopic arm to swing,and a lateral motion mechanism that drives the telescopic arm to move horizontally and laterally;The telescopic arm comprises a picking arm for collecting products and a longitudinal driving mechanism for driving the picking arm to move horizontally and longitudinally;The longitudinal drive mechanism usually includes the timing belt and its fixing device set horizontally and longitudinally.Since the horizontal and longitudinal drive distance of the pickup arm is usually required to be long,the corresponding length of the horizontal and longitudinal timing belt is required to be high,which is not conducive to the layout of the longitudinal drive mechanism.In addition,because the weight of the telescopic boom is usually large,when the pickup arm needs to move horizontally and laterally,the lateral motion mechanism needs to drive the entire telescopic boom to move horizontally and laterally,which consumes a lot of energy.
The telescopic boom is driven by an AC torque motor.The torque motor changes the locked rotor torque by adjusting the working voltage to meet the requirements of stable operation,fast action and accurate positioning.The telescopic arm of the transmission part is driven by a ball screw.Compared with other transmission parts,such as trapezoidal screw,the ball screw has the obvious advantages of accurate control,smooth and flexible contraction,fast action and coordinated work.The extension and retraction movement of the telescopic arm of the actuating part is realized through the extension and retraction of the guide rod.The guide rod part is designed in the way of double guide rods,which can further improve the mechanical performance and accuracy requirements of the telescopic arm.
