CN102717378B - Manipulator device - Google Patents
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- CN102717378B CN102717378B CN201210022293.4A CN201210022293A CN102717378B CN 102717378 B CN102717378 B CN 102717378B CN 201210022293 A CN201210022293 A CN 201210022293A CN 102717378 B CN102717378 B CN 102717378B
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Abstract
The invention provides a manipulator device which comprises a holding arm, a transmission mechanism and at least two clamping hand grips, wherein the transmission mechanism is fixed on the holding arm; the at least two clamping hand grips are connected with the drive mechanism; the transmission mechanism comprises a first transmission mechanism and a second transmission mechanism which are respectively used for fixing a clamping hand grip; the first transmission mechanism and the second transmission mechanism respectively comprise a first driving shaft, a second driving shaft, a first driving chain wheel, a second driving chain wheel, a first transmission chain wheel, a second transmission chain wheel, a first transmission chain and a second transmission chain; the first driving chain wheel and the second driving chain wheel are respectively fixed on the first driving shaft and the second driving shaft; the first transmission chain wheel and the second transmission chain wheel are fixed on the holding arm and respectively rotate with the first driving chain wheel and the second driving chain wheel towards the same direction; the first transmission chain and the second transmission chain are respectively movably positioned on the first driving chain wheel and the first transmission chain wheel as well as the second driving chain wheel and the second transmission chain wheel; and the clamping hand grips are respectively fixed on the first transmission chain and the second transmission chain, and are close to each other or far away from each other along with the moving of the first transmission chain and the second transmission chain so as to be suitable for the transportation of workpieces with multiple models.
Description
Technical field
The present invention relates to robotic device field, particularly relate to a kind of robot device carrying out regulating.
Background technology
Along with the increase gradually of labor cost, automation equipment becomes the important tool of carrying out production manufacture of every profession and trade production firm gradually.For realize different spare part streamline between conversion, the transfer action that some robotic devices carry out relevant spare part can be set usually.Robotic device common on market generally includes controlling organization and is connected the handgrip that carries out clamping spare part with controlling organization.But this kind of handgrip is only set to carry out clamping carrying for the spare part of fixed size usually, when spare part is changed, then needs to change to be suitable for new spare part size to the handgrip on this robotic device.As can be seen here, when needing interval to carry the spare part of different model on the same flow waterline of a certain product, existing robotic device is then difficult to the automation realizing this kind of production line balance manufacture, thus occurs operating efficiency bottleneck, has a strong impact on the production efficiency of corresponding product.
Therefore, be necessary to provide a kind of robot device of improvement to overcome the problems referred to above.
Summary of the invention
The object of the present invention is to provide a kind of robot device carrying out regulating to be suitable for carrying Multiple Type workpiece.
Correspondingly, robot device of the present invention, comprise fixing arm, at least two the clamping handgrips being fixed on the transmission mechanism on fixing arm and being connected with transmission mechanism, described transmission mechanism at least comprises the first transmission mechanism and the second transmission mechanism of fixing a clamping handgrip respectively, described first transmission mechanism and the second transmission mechanism comprise the first driving shaft and the second driving shaft respectively, be individually fixed in first, the first drive sprocket on second driving shaft and the second drive sprocket, be fixed on fixing arm also respectively with first, homodromal first drive sprocket of second drive sprocket and the second drive sprocket, and respectively first driving chain of activity orientation on the first drive sprocket and the first drive sprocket and the second drive sprocket and the second drive sprocket and the second driving chain, described clamping handgrip is individually fixed in first, on second driving chain and with first, second driving chain mobile and close to each other or away from, described robot device also comprises in order to the set bolt on fixing arm by described first drive sprocket and the second drive sprocket activity orientation, and two strainers be fixed on fixing arm, each strainer comprises and being fixed on set bolt and the chain wheel support be positioned at outside the first drive sprocket or the second drive sprocket, be fixed on adjustment screw rod chain wheel support and fixing arm also supporting the first or second driving chain along the direction perpendicular to driving chain, be fixed on the adjusting nut of adjustment screw rod end, and be arranged at adjustment screw rod on and the Compress Spring be clamped and fastened on outside fixing arm and between adjusting nut, described first drive sprocket and the second drive sprocket comprise the tightener sprocket and inner sprocket that are located along the same line in the horizontal direction to limit clamping handgrip displacement respectively, and described strainer is arranged at outside tightener sprocket.
As a further improvement on the present invention, the drive motors that described first transmission mechanism also comprises driving first drive shaft turns and the driven wheel be fixed on the first driving shaft, described second transmission mechanism comprises and is fixed on the second driving shaft and engages the driven gear that drives the second driving shaft and the second drive sprocket to rotate with driven wheel.
As a further improvement on the present invention, described fixing arm is provided with for the loose slot of the set bolt being fixed with strainer along the first driving chain or the second driving chain moving direction movement.
As a further improvement on the present invention, described strainer also comprise be fixed on loose slot both sides limited block, be fixed on and be fixed with the set bolt end of strainer and the slide block between two limited blocks, formed between described limited block for the chute of slide block along the first or second driving chain moving direction movement.
As a further improvement on the present invention, described fixing arm be provided with crossbeam and from cross rail outer and crossbeam at angle to two arms of downward-extension, described tightener sprocket, inner sprocket, strainer and clamping handgrip are all positioned on the downside of arm, and described first drive sprocket and the second drive sprocket also comprise two the transition sprocket wheels being fixed on crossbeam and arm junction respectively.
As a further improvement on the present invention, described robot device also comprises two limit switches laid respectively in the horizontal direction between tightener sprocket and inner sprocket, to limit the shift position of clamping handgrip.
As a further improvement on the present invention, described clamping handgrip is respectively equipped with and is positioned at top to be fixed on the chain clamp system on first, second driving chain, and is positioned at downside to hook the snap fit holding carrying workpiece.
As a further improvement on the present invention, described first transmission mechanism and the second transmission mechanism also comprise the drive motors that drives the first driving shaft and the second drive shaft turns respectively.
The invention has the beneficial effects as follows: by being provided with the transmission mechanism of driving chain in robot device of the present invention, to regulate the clamping distance between two clamping handgrips, thus be suitable for the carrying of the workpiece of Multiple Type, and then realize needing interval to carry the manufacturing automation of the streamline of the workpiece of different model, increase work efficiency and production efficiency.
Accompanying drawing explanation
Fig. 1 is provided with the handling robot system of robot device of the present invention and the stereogram of a workpiece;
Fig. 2 is the stereogram of another angle of handling robot system and a workpiece in Fig. 1;
Fig. 3 is the stereogram of the base of handling robot system in Fig. 1;
Fig. 4 is the stereogram of the Rotary cloumn of handling robot system in Fig. 1;
Fig. 5 is the partial perspective cross-sectional schematic diagram of Rotary cloumn in Fig. 4, the internal structure of display Rotary cloumn;
Fig. 6 is the stereogram of the cantilever of handling robot system in Fig. 1;
Fig. 7 is the partial cutaway view schematic of cantilever in Fig. 6, the internal structure of display cantilever;
Fig. 8 is the stereogram of robot device of the present invention;
Fig. 9 is the phantom of robot device in Fig. 8, the internal structure of display robot device;
Figure 10 is that in Fig. 8, robot device removes the partial perspective view after fixing arm;
Figure 11 is the front view of some mechanical arm device in Figure 10;
Figure 12 is the top view of Figure 10 some mechanical arm device;
Figure 13 is the partial perspective cross-sectional figure of robot device in Fig. 8, the structure of display strainer.
Detailed description of the invention
Describe the present invention below with reference to each embodiment shown in the drawings.But these embodiments do not limit the present invention, the structure that those of ordinary skill in the art makes according to these embodiments, method or conversion functionally are all included in protection scope of the present invention.
Please refer to Fig. 1 and Figure 2 shows that the first better embodiment of the handling robot system 100 being provided with robot device 200 of the present invention.Described handling robot system 100 is for carrying out the carrying of large-scale heavy workpiece 800, and comprise base 1, activity orientation on base 1 and with the vertically disposed Rotary cloumn 2 of base 1, be installed vertically on Rotary cloumn 2 and be fixed on the manipulator 4 of cantilever 3 end along the cantilever 3 of Rotary cloumn 2 axial direction lifting moving, activity, and control the control device 5 of Rotary cloumn 2 anglec of rotation and base 1, cantilever 3 and manipulator 4 displacement.Namely described manipulator 4 and part control device 5 form robot device 200 of the present invention.
Please refer to shown in Fig. 1 to 3, in handling robot system 100, described base 1 comprises and is fixed on track 11 on ground (not shown) and activity orientation in track 11 and along the locomotive 12 of track 11 driven rotary column 2 movement.Described control device 5 comprises the first drive motors 51 driving locomotive 12 movement.Described Rotary cloumn 2 is vertically positioned on locomotive 12 and also can rotates around Rotary cloumn 2 axle center on locomotive 12.Described track 11 is the basic load-supporting part of handling robot system 100, mattess is fixed on by chemical bolt (not shown), to resist the gravity of handling robot system 100 and carrying large heavy workpiece 800, bear carrying workpiece 800 simultaneously and promote and tilting moment in transportation.
Described track 11 is provided with ground beam-and-rail 111, is fixed on beam-and-rail 111 both sides, ground for the protective cover 113 of locomotive 12 outside the track 112, covering track 112 of its track 11 axial direction movement, the drag chain 115 being positioned the dee 114 on ground beam-and-rail 111 between two tracks 112 and being positioned in dee 114.Be provided with the cable 10 of connection control device 5 each several part in described drag chain 115, thus avoid cable 10 in locomotive 12 walking process to be pullled, pile up and produce exception.Described first drive motors 51 is fixed on locomotive 12.Described locomotive 12 is provided with twisted and released of the cable line mechanism 121.This twisted and released of the cable line mechanism 121 is made up of inner shield ring 1211 and outer back-up ring 1212, after the wire casing outlet of cable 10 in drag chain 115 bottom locomotive 12 is fixing, space between inside and outside back-up ring 1211,1212 is with Rotary cloumn 2 rotary middle spindle coiling two to three circle, and after coiling, cable 10 terminal is fixed on Rotary cloumn 2 lower end.Thus when Rotary cloumn 2 rotates, drive the revolution of cable 10 terminal mobile, and then drive twisted and released of the cable line mechanism 121 screw or loosen, to ensure to avoid cable 10 to give a discount within the scope of effective angle of revolution, be wound around.
Please refer to shown in Fig. 1 to Fig. 5, described Rotary cloumn 2 is provided with and is positioned at its bottom to coordinate the first pivoting support mount pad 21 and the vertical column 22 be fixed on the first pivoting support mount pad 21 that rotate with locomotive 12.Described column 22 is tubular structure, and is provided with the balance weight mechanism 221 in order to balanced cantilever 3 and carrying workpiece 800 weight therein, and outer setting has four square tubes 222 being fixed on its surrounding.Described balance weight mechanism 221 comprises and is positioned over four tons of balancing weights 2211 inside column 22, the counterweight sprocket wheel 2212 that is fixed on column 22 inside upper part, is positioned counterweight driving chain 2213 on counterweight sprocket wheel 2212 and chain connecting ring 2214.Described chain connecting ring 2214 is connected with cantilever 3, the weight of cantilever 3 and carrying workpiece to be offset by counterweight sprocket wheel 2212, counterweight driving chain 2213 and balancing weight 2211, thus reduces center of gravity and the lifting action power demand of handling robot system 100.Described column 22 is provided with and is fixed in square tube 222 and the line slideway 223 extended along column 22 axial direction.
Described control device 5 also comprises and drives Rotary cloumn 2 the second drive motors 52 of driving cantilever 3 to carry out rotating on locomotive 12 and drive cantilever 3 along the elevating mechanism 53 of Rotary cloumn 2 axial direction movement.Described second drive motors 52 is fixed on the first pivoting support mount pad 21, rotates around its axle center to drive Rotary cloumn 2.Described elevating mechanism 53 comprises and is installed on hydraulic power unit 531 on column 22 side and hoist cylinder 532.Described hydraulic power unit 531 can be a whole set of handling robot system 100 comprising hoist cylinder 532 and provides hydraulic power.As shown in Figure 4, described hydraulic power unit 531 is arranged on column 22 side to reduce the center of gravity of handling robot system 100, and shortens hydraulic circuit supply distance, reduces hydraulic circuit loss, and then reduces system 100 fault rate.
Please refer to shown in Fig. 1 to Fig. 7, described cantilever 3 is provided with around Rotary cloumn 2 cantilever 3 to be positioned the locating rack 31 on Rotary cloumn 2, and connects locating rack 31 and cantilever beam 32 vertically disposed with Rotary cloumn 2.Described locating rack 31 is provided with and is fixed on to coordinate the ball slider 311 slided with line slideway 223 inside locating rack 31, and be fixed on outside locating rack 31 to be connected to drive the cylinder support 312 of the vertical movement of cantilever about 3 with the hoist cylinder 532 on Rotary cloumn 2.The the second pivoting support mount pad 321 rotated around it for manipulator 4 is provided with on the downside of the end of described cantilever beam 32 away from locating rack 31.Described control device 5 also comprises the 3rd drive motors 54 that is fixed on and rotates around the axle center of the second pivoting support mount pad 321 with driving device hand 4 inside cantilever beam 32 and is fixed on cantilever beam 32 end to carry out carrying the vision shooting interpretation mechanism 50 of workpiece model scanning.Before this vision shooting interpretation mechanism 50 is used in and carries out workpiece 800 carrying; first obtain the model needing to carry out carrying workpiece 800; then this model is fed back to control device 5; control device 5 can obtain the relevant parameter corresponding with this workpiece 800; with to the automatic interpretation of workpiece 800 placement location, guarantee that manipulator 4 correctly captures and transports safely.
Described control device 5 also comprises the laser ranging mechanism 55 carrying out cantilever 3 and measure along Rotary cloumn 2 axial direction displacement.Described laser ranging mechanism 55 comprises the laser range sensor 551 be fixed on Rotary cloumn 22, and the target 552 be oppositely arranged along Rotary cloumn 2 axial direction on the locating rack 31 being fixed on cantilever 3 and with laser ranging sensing 551; Thus can measure the range ability of cantilever 3, and the height distance information of feedback manipulator 4, and then coordinate elevating mechanism 53 to adjust the height of cantilever 3 in good time, guarantee that manipulator 4 correctly captures or place work piece 800, guarantee that transportation is safe and reliable.
Please refer to Fig. 6 to the detailed description of the invention that Figure 13 shows that robot device 200 of the present invention.Described manipulator 4 wherein in robot device 200 of the present invention comprises activity and is fixed on the fixing arm 41 on the second pivoting support mount pad 321 and is fixed on fixing arm 41 and be oppositely arranged two clamping handgrips 45.The 41 one-tenth inverted U designs of the arm of fixing described in the present invention, and be provided with for the dragging track 410 of clamping handgrip 45 along the movement of fixing arm 41 length direction.Described control device 5 also comprises driving two clamping handgrips 45 deviate from movement in opposite directions or mutually transmission mechanism 56 along dragging track 410.Namely described manipulator 4 and transmission mechanism 56 form the robot device of the present invention 200 in order to clamping carrying workpiece 800.
Incorporated by reference to shown in Fig. 9 to Figure 12, described transmission mechanism 56 at least comprises the first transmission mechanism 561 and the second transmission mechanism 562 fixing a clamping handgrip 45 respectively.Described first transmission mechanism 561 comprises the first driving shaft 5611, drive the first driving shaft 5611 to rotate four-wheel drive motor 563, driven wheel 5612 and the first drive sprocket 5613 be fixed on the first driving shaft 5611, to be fixed on fixing arm 41 and homodromal first drive sprocket 5614 with the first drive sprocket 5613 respectively, and first driving chain 5615 of activity orientation on the first drive sprocket 5613 and the first drive sprocket 5614.Described second transmission mechanism 562 comprises the second driving shaft 5621, the second drive sprocket 5622 be fixed on the second driving shaft 5621, be fixed on the second driving shaft 5621 and engage with driven wheel 5612 to drive the second driving shaft 5621 and the counter-rotational driven gear of relative first drive sprocket 5613 of the second drive sprocket 5,622 5623, be fixed on fixing arm 41 and second drive sprocket 5624 homodromal with the second drive sprocket 5622, and second driving chain 5625 of activity orientation on the second drive sprocket 5622 and the second drive sprocket 5624.Described first transmission mechanism 561 and the second transmission mechanism 562 oppositely intersect installation, and move along inverse direction.Described clamping handgrip 45 to be individually fixed on first, second driving chain 5615,5625 and with the mobile and close to each other of first, second driving chain 5615,5625 or away from.
Incorporated by reference to shown in Fig. 8 to Figure 13, described fixing arm 41 be provided with crossbeam 411 and outside crossbeam 411 with crossbeam 411 at angle to two arms 412 of downward-extension.Described dragging track 410 is formed respectively to outer projection from two arm 412 lower ends.Described first drive sprocket 5614 and the second drive sprocket 5624 comprise two transition sprocket wheels 567 being fixed on crossbeam 411 and each arm 412 junction respectively and to be fixed on the downside of this arm 412 and the tightener sprocket 564 be located along the same line in the horizontal direction and inner sprocket 565, thus make the first driving chain 5615 and the second driving chain 5625 all include a horizontal component 566.Described clamping handgrip 45 to be all fixed on this horizontal component 566 and move in the horizontal direction and close to each other or away from.Described manipulator 4 also comprises two limit switches 46 laid respectively in the horizontal direction between tightener sprocket 564 in the second drive sprocket 5624 and inner sprocket 565, in order to restriction clamping handgrip 45 shift position in the horizontal direction, avoid, because control device 5 internal program setting mistake or software faults cause clamping handgrip 45 to run surmounting spacing stuck and cause four-wheel drive motor 563 or other actuated elements to damage, ensureing the safety of robot device.Really, described manipulator 4 also can arrange the limit switch laid respectively in the horizontal direction between tightener sprocket 564 in the first drive sprocket 5614 and inner sprocket 565, in order to limit the first driving chain 5615 displacement in the horizontal direction.
Described manipulator 4 also comprises in order to by set bolt 42 on fixing arm 41 of described first drive sprocket 5614 and the second drive sprocket 5624 activity orientation and be fixed on fixing arm 41 to regulate two strainers 43 of first, second driving chain 5615,5625 elasticity respectively.Each strainer 43 comprises and being fixed on set bolt 42 and the chain wheel support 431 be positioned at outside the first drive sprocket 5614 or the second drive sprocket 5624, be fixed on chain wheel support 431 and fixing arm 41 and also support the first or second driving chain 5615 along the direction perpendicular to the first driving chain 5615 or the second driving chain 5625, the adjustment screw rod 432 of 5625, be fixed on the adjusting nut 433 of adjustment screw rod 432 end, and be arranged at adjustment screw rod 432 on and the Compress Spring 434 be clamped and fastened on outside fixing arm 41 and between adjusting nut 433.Described adjustment screw rod 432 extends to outside fixing wall 41, and described adjusting nut 433 is fixed on adjustment screw rod 432 and is positioned at end outside fixing wall 41.Strainer 43 described in the present invention is fixed on to be fixed with on the set bolt 42 of tightener sprocket 564, really, in other embodiments, described strainer 564 also can be arranged at be fixed with other drive sprockets 5614,5624 set bolt 42 on.Each arm 412 is provided with set bolt 42 that a confession is fixed with strainer 43 loose slot 413 along the first driving chain 5615 or the second driving chain 5625 moving direction movement.Each strainer 43 also comprise be fixed on loose slot 413 both sides limited block 435, be fixed on and be fixed with set bolt 42 end of strainer 43 and the slide block 436 between two limited blocks 435, formed for set bolt 42 with the chute 437 of movable slider 436 along the first or second driving chain 5615,5625 moving direction movement between described limited block 435.The tensile force regulating Compress Spring 434 is carried out thus by adjustment screw rod 432 and adjusting nut 433; And compensate the tensile force that the wearing and tearing, stretching etc. that produce because of driving chain 5615,5625 longtime running cause reduce by regulating, guarantee that driving chain 5615,5625 is in tensioning state, avoids slack and undisciplined de-chain, the collision fixing wall 41 etc. of causing of driving chain 5615,5625 abnormal; In addition, described loose slot 413 also can the scale error of adequate compensation carrying workpiece clamp segment, avoid the clamped condition exception produced for clamping handgrip 45 exact position that workpiece model clamp segment size controls by four-wheel drive motor 563, avoid clamping handgrip 45 excessively clamping to the shock of workpiece, damage, thus can increase can grabbing workpiece dimensional accuracy scope, guarantee that workpiece captures safely and transports, and then form a flexible mechanical arm device.
Described clamping handgrip 45 is provided with main part 451, be formed at slide to match with the dragging track 410 on fixing arm 41 at main part 451 top two slide plates 452, between slide plate 452 with the chain clamp system 453 fixed with the first driving chain 5615 or the second driving chain 5625, and main body 451 one end to downward-extension to hook the snap fit 454 holding carrying workpiece 800.As can be seen here, described tightener sprocket 564, inner sprocket 565, strainer 43 and clamping handgrip 45 are all positioned on the downside of arm 412.
Described first, second, third and four-wheel drive motor 51,52,54,563 include servomotor and be fixed on the planet-gear speed reducer on servomotor.During driving device arm device, transfer to driven wheel 5612 and the first drive sprocket 5613 by the first driving shaft 5611 after servomotor in four-wheel drive motor 563 is slowed down by planet-gear speed reducer, drive one of them clamping handgrip 45 to move by the first driving chain 5615; In addition, driven wheel 5612 pair transmits reverse drive direction, drives the second transmission mechanism 562 oppositely to move relative to the first transmission mechanism 561, and then makes two clamping handgrips 42 synchronously carry out clamping or loosening the action of carrying workpiece in opposite directions.
In robot device 200 of the present invention, described transmission mechanism 56 comprises first, second transmission mechanism 561,562 of corresponding two clamping handgrips 45 respectively, and this first, second transmission mechanism 561,562 all drives running by four-wheel drive motor 563; Really, in other embodiments, described first transmission mechanism 561 and the second transmission mechanism 562 also can be separated from each other, and arrange the drive motors of drive driving shaft 5611,5621 rotation respectively, also can realize object of the present invention; In addition, robot device 200 of the present invention comprises two clamping handgrips 45, in other embodiments, this robot device 200 also can comprise more than two clamping handgrip 45 and drive this clamping handgrip 45 move and have the transmission mechanism of a drive motors respectively respectively, to adapt to carry the demand of workpiece.
Incorporated by reference to shown in Fig. 1 to Figure 12, described control device 5 also comprises vision shooting interpretation mechanism 50, first, second, third, fourth drive motors 51,52,54,563, elevating mechanism 53 and laser ranging mechanism 55 carry out the controller 59 of operating state control, thus can control the displacement of the anglec of rotation of Rotary cloumn 2 and base 1, cantilever 3 and manipulator 4, and then realize accurately capturing and carrying workpiece 800.
In sum, by being provided with the transmission mechanism 561,562 of driving chain 5615,5625 in robot device 200 of the present invention, to regulate the clamping distance between two clamping handgrips 45, thus be suitable for the carrying of the workpiece 800 of Multiple Type, and then realize needing interval to carry the manufacturing automation of the streamline of the workpiece of different model, increase work efficiency and production efficiency; In addition, by using driving chain 5615,5625 transmission clamping handgrip 45, also can to avoid when place work piece 800 transmission mechanism 561,562 stuck and can not turn round, reducing the fault rate being provided with robot system 100 equipment of robot device 200 of the present invention.
Be to be understood that, although this description is described according to embodiment, but not each embodiment only comprises an independently technical scheme, this narrating mode of description is only for clarity sake, those skilled in the art should by description integrally, technical scheme in each embodiment also through appropriately combined, can form other embodiments that it will be appreciated by those skilled in the art that.
A series of detailed description listed is above only illustrating for feasibility embodiment of the present invention; they are also not used to limit the scope of the invention, all do not depart from the skill of the present invention equivalent implementations done of spirit or change all should be included within protection scope of the present invention.
Claims (8)
1. a robot device, comprise fixing arm, at least two the clamping handgrips being fixed on the transmission mechanism on fixing arm and being connected with transmission mechanism, it is characterized in that, described transmission mechanism at least comprises the first transmission mechanism and the second transmission mechanism of fixing a clamping handgrip respectively, described first transmission mechanism and the second transmission mechanism comprise the first driving shaft and the second driving shaft respectively, be individually fixed in first, the first drive sprocket on second driving shaft and the second drive sprocket, be fixed on fixing arm also respectively with first, homodromal first drive sprocket of second drive sprocket and the second drive sprocket, and respectively first driving chain of activity orientation on the first drive sprocket and the first drive sprocket and the second drive sprocket and the second drive sprocket and the second driving chain, described clamping handgrip is individually fixed in first, on second driving chain and with first, second driving chain mobile and close to each other or away from, described robot device also comprises in order to the set bolt on fixing arm by described first drive sprocket and the second drive sprocket activity orientation, and two strainers be fixed on fixing arm, each strainer comprises and being fixed on set bolt and the chain wheel support be positioned at outside the first drive sprocket or the second drive sprocket, be fixed on adjustment screw rod chain wheel support and fixing arm also supporting the first or second driving chain along the direction perpendicular to driving chain, be fixed on the adjusting nut of adjustment screw rod end, and be arranged at adjustment screw rod on and the Compress Spring be clamped and fastened on outside fixing arm and between adjusting nut, described first drive sprocket and the second drive sprocket comprise the tightener sprocket and inner sprocket that are located along the same line in the horizontal direction to limit clamping handgrip displacement respectively, and described strainer is arranged at outside tightener sprocket.
2. manipulator according to claim 1, it is characterized in that, the drive motors that described first transmission mechanism also comprises driving first drive shaft turns and the driven wheel be fixed on the first driving shaft, described second transmission mechanism comprises and is fixed on the second driving shaft and engages the driven gear that drives the second driving shaft and the second drive sprocket to rotate with driven wheel.
3. robot device according to claim 1, is characterized in that, described fixing arm is provided with for the loose slot of the set bolt being fixed with strainer along the first driving chain or the second driving chain moving direction movement.
4. robot device according to claim 3, it is characterized in that, described strainer also comprise be fixed on loose slot both sides limited block, be fixed on and be fixed with the set bolt end of strainer and the slide block between two limited blocks, formed between described limited block for the chute of slide block along the first or second driving chain moving direction movement.
5. robot device according to claim 1, it is characterized in that, described fixing arm be provided with crossbeam and from cross rail outer and crossbeam at angle to two arms of downward-extension, described tightener sprocket, inner sprocket, strainer and clamping handgrip are all positioned on the downside of arm, and described first drive sprocket and the second drive sprocket also comprise two the transition sprocket wheels being fixed on crossbeam and arm junction respectively.
6. robot device according to claim 1, is characterized in that, described robot device also comprises two limit switches laid respectively in the horizontal direction between tightener sprocket and inner sprocket, to limit the shift position of clamping handgrip.
7. robot device according to claim 1, is characterized in that, described clamping handgrip is respectively equipped with and is positioned at top to be fixed on the chain clamp system on first, second driving chain, and is positioned at downside to hook the snap fit holding carrying workpiece.
8. robot device according to claim 1, is characterized in that, described first transmission mechanism and the second transmission mechanism also comprise the drive motors that drives the first driving shaft and the second drive shaft turns respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210022293.4A CN102717378B (en) | 2012-02-01 | 2012-02-01 | Manipulator device |
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| CN201210022293.4A CN102717378B (en) | 2012-02-01 | 2012-02-01 | Manipulator device |
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| CN102717378A CN102717378A (en) | 2012-10-10 |
| CN102717378B true CN102717378B (en) | 2015-05-20 |
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| CS227944B1 (en) * | 1982-10-07 | 1984-05-14 | Ladislav Jurec | Gripper of manipulator with chain drive of jaws |
| JPH11347979A (en) * | 1998-06-08 | 1999-12-21 | Japan Servo Co Ltd | Gripping device |
| CN2883257Y (en) * | 2006-02-25 | 2007-03-28 | 康承国 | Pipe chain conveyer |
| DE102007039399B4 (en) * | 2007-08-21 | 2010-05-12 | Saadat, Mohammad Mohsen, Prof. Dr.-Ing. | Gripping mechanism with three-piece gear shaft |
| CN201214244Y (en) * | 2008-05-19 | 2009-04-01 | 昆明理工大学 | Parallel holding paw for robot |
| CN202399263U (en) * | 2012-02-01 | 2012-08-29 | 昆山华恒焊接股份有限公司 | Manipulator device |
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2012
- 2012-02-01 CN CN201210022293.4A patent/CN102717378B/en active Active
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