CN103708220A

CN103708220A - Multiple-arm gripping manipulator

Info

Publication number: CN103708220A
Application number: CN201210376609.XA
Authority: CN
Inventors: 高国强
Original assignee: Individual
Current assignee: Individual
Priority date: 2012-10-08
Filing date: 2012-10-08
Publication date: 2014-04-09

Abstract

The invention discloses a multiple-arm gripping manipulator. Grippers (1) grip bricks, lift and rotate and overturn automatically, and then stack the bricks sequentially to specified positions. With status maintaining devices (4), independent movements of manipulator units (1) can be realized without complicated pipeline connection, so that the manipulator units (1) can smoothly lift and rotate while being fixed at needed working status when being supplied with no power, and can work in step completely without false operation by its dragging force, and further, energy is saved. In addition, the manipulator is skillful and reliable in movement, high in automation degree and capable of releasing labor, simple in structure, low in manufacturing cost, convenient to operate, sanitary and environment friendly, and is an essential automatic device for a production line of the like products.

Description

Multi-arm pick-and-place manipulator

Affiliated technical field

The present invention relates to a kind of automation grabbing device, particularly relate to a kind of multi-arm pick-and-place manipulator.

Background technology

Extensively at the production fragment of brick equipment of use, as rotary-disc brick maker, every machine at least needs one, two workman to keep aside at present, machine is output continuously, workman ceaselessly carries a moment, day by day, and year after year, uninteresting repetition, heavy nothing is stopped, and there is no so far a kind of equipment and replaces this manual labor, poor working environment, labour intensity is large, and workman can't bear the heavy load.

The object of the invention aims to provide a kind of mechanical hand, on one side automatic capturing extrusion product, another side is sequentially piled up it neatly, and for the automatic production line of this mode brickmaking provides a kind of critical equipment, the present invention also can be applicable in the middle of other block article production.

Summary of the invention

The present invention is partly comprised of manipulator 1, arm 2, rotary and lifting device 3, state holding device 4, driving device 5, holster shell 6 and transferring device 7 etc.

Technical scheme of the present invention is: manipulator 1 is picked up the thing piece of horizontal, and lifting, to leave work top, is turned back to next station upset, and then vertically-arranged is piled up on transferring device 7 successively; The gathering pick-and-place rotary movement of manipulator 1 completes by state holding device 4, so that manipulator 1 keeps the action triggering when lifting and revolution, thereby departs from rack-mounted propulsion source and control source, avoids complicated pipeline to connect; When manipulator 1 is turned back to crawl and piles up station, then implement corresponding action by the engine installation and the control setup that are fixed on frame, go round and begin again, automatically operation; The transposition revolution of manipulator 1 is dragged by the rotating disk of briquetting the machine, guarantees that manipulator 1 action is in full accord with the machine cycle of run, with false action-proof.

Described manipulator 1 is connected with arm 2, handgrip 11 in pairs and be symmetrical in synchronization link mechanism 12, handgrip 11 can slide on the external part of arm 2, a hinge of synchronization link mechanism 12 is fixed on the external part of arm 2, other two hinges are fixing with two handgrips 11 respectively, a handgrip is stressed, two synchronous opening and closing;

Described arm 2 is formed by connecting by forearm 21 and large arm 22, and carrying manipulator 1, quilt are grabbed object 13 and the heavy burden of himself; Forearm 21 two ends connect respectively the displacement output of handgrip 11 and translation retainer 44, and large arm 22 two ends connect respectively forearm 21 and rotate the torsion output of retainer 42;

Described rotary and lifting device 3 and frame sliding block joint, not only moved up and down by vertical force but also can be subject to twisting resistance effect reciprocating rotation, thrust baring is established in slide-bar 33 bottoms of rotary and lifting device 3, while moving up, radius stay 32 is separated with the positioning groove of detent mechanism 31, so that accessible revolution, forwarding given angle to declines, radius stay 32 injects the positioning groove of detent mechanism 31, and accurate positioning is reliable, and the positioning groove of detent mechanism 31 is pressed set angle and distributed;

Described state holding device 4 is a kind of switching value producers, is divided into and rotates retainer 42 and translation retainer 44, rotates retainer 42 and is fixed on rotary and lifting device 3, and translation retainer 44 is fixed on large arm 22; The rotation feeler lever 41 that rotates retainer 42 one end is depressed, homonymy other end rotation feeler lever stretches out same length, in the plane vertical with rotation feeler lever 41 place faces, export given rotation simultaneously, and keep institute's gyration, until press the feeler lever stretching out, the feeler lever being depressed stretches out, and exports contrarotation simultaneously, keeps institute's gyration until trigger next time; In like manner, the translation feeler lever 43 of translation retainer 44 one end is depressed, homonymy other end translation feeler lever stretches out same length, opposite side is exported given elongation simultaneously, and keeps this length, until press the feeler lever stretching out, the feeler lever being depressed stretches out, meanwhile, the elongation of output is return, and keeps returning state until trigger next time;

Described driving device 5 by damping mechanism 51, speed-changing mechanism 52, determine angle indexing mechanism 53, revolution transmission mechanism 54 and engaging and disengaging gear 55 etc. form; The slider-crank mechanism of revolution transmission mechanism 54 for developing, one end is connected on the rotating disk of briquetting the machine, when dial rotation, the connecting rod of revolution transmission mechanism 54 swings thereupon, the other end of revolution transmission mechanism 54 connects the input rotating shaft of determining angle indexing mechanism, bearing is equipped with in rotating shaft, by bearing seat and frame, fixes; Determining angle indexing mechanism 53 is converted to the reciprocating rotation of rotating shaft by the unidirectional rotation in set angle interval, when it rotates backward, produce intermittently, determine angle indexing mechanism 53 and through speed-changing mechanism 52, convert this regular motion to required angle and pass to slide-bar 33; Damping mechanism 51 is loaded on speed-changing mechanism 52, in case adverse effects such as that the inertia of mechanism operation brings is excessive, backlash and impacts, damping size is adjusted by elastic force; Engaging and disengaging gear 55 is fixed in frame, by pulling the gear of speed-changing mechanism 52, when two gear pairs disengage, transmission is interrupted to process abnormal running situation, when two gear pair engagements, just enter normal operation, the friction between engaging and disengaging gear 55 and Gear Contact Surface is used to supplement damping;

The frame of described holster shell 6 can be welded by shaped steel, and shell can be made by panel beating, and the drain pan wherein contacting with ground is accepted lubricating oil that driving device 5 falls and foreign material etc., in order to avoid pollute, establishes lower margin below drain pan;

Described transferring device 7 is arranged on the station of piling up of manipulator 1, and after manipulator 1 is let go at every turn, the corresponding movement of the continuing surface of transferring device 7, to set a distance, is abdicated the space of next time piling up.

Beneficial effect of the present invention is: mechanism is exquisite, reliable in action, by former machine self power, save the energy, the high saving of degree of automation labour, fundamentally changed the mode of production of existing like product, workman transfers simple policer operation and equipment maintenance to by heavy manual labor, and laborer is freed from long-term heavy machine constraint, becomes the owner of machine; Simple in structure, very clear, easy to manufacture, easy to operate, processing cost is low, is convenient to penetration and promotion; In service without any pollutant emission, cleaning, low noise, environmental protection.

Accompanying drawing explanation

Fig. 1: three-dimensional is always schemed

Fig. 2: constructional drawing

Fig. 3: schematic diagram

In figure:

1 manipulator 41 rotation feeler levers

11 handgrips 42 rotate retainer

12 synchronization link mechanism 43 translation feeler levers

13 capture object 44 translation retainers

2 arm 5 drivings device

21 forearm 51 damping mechanisms

22 large arm 52 speed-changing mechanisms

3 rotary and lifting devices 53 are determined angle indexing mechanism

31 detent mechanism 54 revolution transmission mechanisms

32 radius stay 55 engaging and disengaging gear

33 slide-bar 6 holster shell

4 state holding device 7 transferring devices

The specific embodiment

Below in conjunction with accompanying drawing, with way of example, the present invention is further described.

Manipulator 1 is capturing station, the translation feeler lever 43 of translation retainer 44 is pressed into, homonymy other end translation feeler lever stretches out same length, the mouth of translation retainer 44 produces cross travel, by forearm 21, passes to handgrip 11, and another is subject to synchronization link mechanism 11 restrictions, two handgrips are firmly grasped simultaneously, and keep promptly state by translation retainer 44, trigger propulsion source and return, to disengage, the stressed lifting of slide-bar 33 of rotary and lifting device 3, drive affixed with it arm 2 together with manipulator 1 and capture object 13 and be lifted to setting height, the slotted eye of detent mechanism 31 is separated with radius stay 32, the rotation feeler lever 41 that simultaneously rotates retainer 42 also disengages with its triggering propulsion source, so that manipulator 1 and arm 2 thereof are around slide-bar 33 revolutions, the rotating disk of revolution transmission mechanism 54 compression block the machine drags and reverses and determine angle indexing mechanism 53, and the shifting block of and if only if this mechanism touches ratchet, speed-changing mechanism 52 rotations that are attached thereto, and pass to slide-bar 33 by required angle, the rotating disk revolution of briquetting the machine puts in place and rotates backward, revolution transmission mechanism 54 reverses thereupon, but determining angle indexing mechanism 53 does not transmit this and rotates backward, thereby slide-bar 33 is in rotating intermittently state, now arm 2 and negative parts thereof are fallen in the lump, radius stay 32 inserts in the slotted eye of detent mechanism 31, until groove and bar closely cooperate, realizes height precise and determines position, meanwhile, the rotation feeler lever 41 pressurized indentations of station mediate, homonymy other end rotation feeler lever stretches out, rotate retainer 42 outputs and set corner, the arm 2 being attached thereto and connected manipulator 1 thereof overturn in the lump, grabbed object 13 break-ins, by flat, become vertical, to pile up on the continuing surface of transferring device 7, another station relative with this station, the rotation feeler lever stretching out is pressed into, and the rotation feeler lever of last time compressing into stretches out, and rotates the oppositely same corner of output of retainer 42, and arm 2 is reverse flip thereupon, and the manipulator 1 that has completed release movement rotates back into and captures required direction, arm 2 declines and puts in place, capture station triggers with the translation retainer 44 of piling up station simultaneously, the translation feeler lever 43 that captures station is pressed into, other end feeler lever stretches out, the displacement of translation retainer 44 outputs passes to handgrip 11 by forearm 21, synchronization link mechanism 11 forces two handgrips to be firmly grasped simultaneously, and keep promptly state by translation retainer 44, capturing translation feeler lever 43 that station stretches out is pressed into piling up station, other end feeler lever stretches out, translation retainer 44 is the displacement of output equivalent oppositely, equally, two handgrips open under the constraint of connecting rod mechanism 11 simultaneously, complete release movement, by grabbed object 13 on request vertically-arranged pile up on the continuing surface of transferring device 7, trigger propulsion source and be triggered at any moment, move back subsequently, so that feeler lever is separated with its propulsion source, during the two disengages, translation retainer 44 keeps the state being triggered always, manipulator 1 and arm 2 liftings thereof, the rotating disk revolution of briquetting the machine, so moves in circles, as long as the machine is not stopped, the work that captures and pile up is just synchronizeed and is automatically carried out with the machine.

The number of combinations of manipulator 1 and arm 2 thereof is not limit, and determines as required, but take four arms as good, is convenient to vertical distribution, like this, captures station and piles up station on a line and vertical with two intermediate stations lines; Correspondingly, the state holding device 4 of vertical distribution, the repeatable accuracy of its triggering is higher, and while falling after revolution, radius stay contraposition hand-hole is more accurate; This four arm vertical distribution forms, had both fully met the requirement of pick-and-place, upset, lifting, revolution and transposition action, can save to greatest extent making raw MAT'L again, also made process and assemble debugging maintenance more simple and easy to do, and productive costs is more saved.

The number of combinations of manipulator 1 and arm 2 thereof is less than 4 will make manipulator rotary movement have no time and space, must try to find some other ways; The number of combinations of manipulator 1 and arm 2 thereof, more than 4 inevitable multipurpose materials, arranges comparatively complexity, must guarantee the repeatable accuracy of transposition and state holding device 4 triggerings simultaneously, and processing, assembling, debugging, maintenance etc. have all increased difficulty.

Claims

1. a multi-arm pick-and-place manipulator, comprise: manipulator (1), arm (2), rotary and lifting device (3), state holding device (4), driving device (5), holster shell (6) and transferring device (7) etc., it is characterized in that: manipulator (1) is connected in arm (2), between arm (2) and rotary and lifting device (3), state holding device (4) is housed, rotary and lifting device (3) is contained on driving device (5), driving device (5) is loaded in holster shell (6), crawl station is established in holster shell (6) outside, opposite side is for piling up station, all the other are intermediate stations, transferring device (7) is arranged on piles up station, rotary and lifting device (3) drags arm (2) lifting and revolves and stop, state holding device (4) makes the upset of manipulator (1) pick-and-place.

2. manipulator according to claim 1 (1) is comprised of handgrip (11) and synchronization link mechanism (12) etc., it is characterized in that: handgrip (11) is installed in pairs and about synchronization link mechanism (12) is symmetrical, arbitrary handgrip (11) action, another is subject to synchronization link mechanism (12) constraint and opposite action.

3. arm according to claim 1 (2) is comprised of forearm (21) and large arm (22) etc., it is characterized in that: forearm (21) is connected and makes manipulator (1) opening and closing with the translation output of state holding device (4), large arm (22) is connected driving mechanical hand (1) upset with the translation output of state holding device (4), and integral body is around the axis revolution of jacking system (3) and along this axis lifting.

4. rotary and lifting device according to claim 1 (3) is comprised of detent mechanism (31), radius stay (32), slide-bar (33) etc., it is characterized in that: thrust baring is established in its slide-bar (33) bottom, radius stay (32) is inserted in the respective aperture of detent mechanism (31) accurately to locate, this hole is pressed arm (2) degreeof turn and is distributed, and slide-bar (33) rises, and bar is separated with hole.

5. state holding device according to claim 1 (4) is divided into rotation retainer (42) and translation retainer (44), it is characterized in that: one end feeler lever that rotates retainer (42) is depressed, homonymy other end feeler lever stretches out, and keep institute's output corner, until press the feeler lever stretching out, the feeler lever being depressed stretched out, and obtains reverse corner and exports and remain to triggering next time; In like manner, translation retainer (44) one end feeler lever is depressed, and homonymy other end feeler lever stretches out, and opposite side fixed length output displacement also keeps, until press the feeler lever stretching out, the feeler lever being depressed stretched out, and the displacement of having exported is return and kept this state until trigger next time.

6. driving device according to claim 1 (5) is by damping mechanism (51), speed-changing mechanism (52), determine angle indexing mechanism (53), the compositions such as revolution transmission mechanism (54) and engaging and disengaging gear (55), it is characterized in that: damping mechanism (51) is loaded on speed-changing mechanism (52), damping size is adjusted by elastic force, determining angle indexing mechanism (53) and if only if its shifting block touches ratchet and just has output, revolution transmission mechanism (54) one end connects rotating disk reciprocally swinging, another termination is determined the input shaft of angle indexing mechanism (53), engaging and disengaging gear (55) is fixed in frame and pulls gear pair or disengaging or engagement, pull contact surface friction and supplement damping.

7. transferring device according to claim 1 (7), is characterized in that: strictly, by piling up frequency shifting, just in time abdicate the space of next time piling up.