CN106142113B - A kind of manipulator crawl Weighing mechanism - Google Patents
A kind of manipulator crawl Weighing mechanism Download PDFInfo
- Publication number
- CN106142113B CN106142113B CN201610701011.1A CN201610701011A CN106142113B CN 106142113 B CN106142113 B CN 106142113B CN 201610701011 A CN201610701011 A CN 201610701011A CN 106142113 B CN106142113 B CN 106142113B
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- crawl
- frame
- basic framework
- positive
- crawl frame
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of manipulator crawl Weighing mechanisms, including basic framework, basic framework is both provided with guide rail along the two sides of X-direction, guide rail is arranged along Y direction, it is both provided with the first slide unit and the second slide unit on two guide rails, two the first slide units are connect with the first crawl frame, two the second slide units are connect with the second crawl frame, it is both provided with grasping plate on first crawl frame and the second crawl frame, it is additionally provided with belt gear in the corresponding basic framework of guide rail, sandwiched is fixed with the first transmission clamp arm and the second transmission clamp arm respectively with lower part on the belt top of belt gear, first transmission clamp arm is fixed on the first crawl frame, second transmission clamp arm setting captures frame second.Reasonable design of the present invention, it is compact-sized, and it is good to capture effect, and it is reliable and stable.
Description
Technical field
The present invention relates to manipulator fields, and in particular to a kind of manipulator crawl Weighing mechanism.
Background technology
Manipulator needs grasping mechanism to capture article, and for the difference of article, grasping mechanism is varied, but makes
In, these manipulator bad adaptabilities, and it is smaller for the article of crawl, larger article can not be competent at, crawl is steady
It is qualitative very poor, it is fragile.
Invention content
It is an object of the invention to overcome problem above of the existing technology, a kind of manipulator crawl weigher is provided
Structure, reasonable design of the present invention is compact-sized, and it is good to capture effect, reliable and stable.
To realize above-mentioned technical purpose and the technique effect, the invention is realized by the following technical scheme：
A kind of manipulator crawl Weighing mechanism, including basic framework, the basic framework is along the two sides of X-direction
It is both provided with guide rail, the guide rail is arranged along Y direction, and the first slide unit is both provided on two guide rails
With the second slide unit, two first slide units are connect with the first crawl frame, and two second slide units are connect with the second crawl frame,
It is both provided with grasping plate on the first crawl frame and the second crawl frame, is also set up in the corresponding basic framework of guide rail
There is a belt gear, sandwiched is fixed with the first transmission clamp arm and the respectively for the belt top of the belt gear and lower part
Two transmission clamp arm, the first transmission clamp arm are fixed on the first crawl frame, and the second transmission clamp arm is arranged second
It captures on frame.
Further, mounting plate is set in the middle part of the basic framework, is provided with weighing sensor among the mounting plate, institute
It states and is additionally provided with axis joined assemblies between mounting plate and basic framework.
Further, the basic framework is additionally provided with horizontal air cylinder, the horizontal air cylinder in a side of X-direction
On be provided with lifting cylinder, the lifting cylinder bottom is provided with side shield.
Further, it is additionally provided with limited post on the basic framework.
Further, the grasping plate quantity on the first crawl frame and the second crawl frame is 2, on the first crawl frame
Two grasping plates be arranged on the first positive and negative tooth screw rod, it is described second crawl frame on two grasping plates be arranged in the second positive and negative tooth spiral shell
On bar, connect with power transmission pole in the middle part of the first positive and negative tooth screw rod and the second positive and negative tooth screw rod, the power transmission pole and
It is both provided with bevel reduction gear set between first positive and negative tooth screw rod and between power transmission pole and the second positive and negative tooth screw rod.
Further, the grasping plate is L-type structure, and surface is provided with anti-slip part.
The beneficial effects of the invention are as follows:
By belt gear setting enable to both sides grasping plate can relative motion, can capture various sizes of
Product.When axis joined assemblies make crawl, there can be certain shaking leeway, reduce impact force of the weight to manipulator, raising makes
Use the service life.
Above description is only the general introduction of technical solution of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, below with presently preferred embodiments of the present invention and after coordinating attached drawing to be described in detail such as.
The specific implementation mode of the present invention is shown in detail by following embodiment and its attached drawing.
Description of the drawings
Technical solution in technology in order to illustrate the embodiments of the present invention more clearly, in being described below to embodiment technology
Required attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the present invention
Example is applied, it for those of ordinary skill in the art, without creative efforts, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the overall structure diagram of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
Shown in referring to Fig.1, a kind of manipulator crawl Weighing mechanism, including basic framework 1, basic framework is along X-direction
Two sides on be both provided with guide rail 2, guide rail is arranged along Y direction, and first is both provided with along two guide rails
Slide unit and the second slide unit, two the first slide units are connect with the first crawl frame 3, and two the second slide units are connect with the second crawl frame 4, the
It is both provided with grasping plate 5 on one crawl frame and the second crawl frame, belt biography is additionally provided in the corresponding basic framework of guide rail
Motivation structure 6, sandwiched is fixed with the first transmission clamp arm 7 and second transmission clamp arm respectively for belt top and the lower part of belt gear
8, the first transmission clamp arm is fixed on the first crawl frame, and the second transmission clamp arm setting is on the second crawl frame.Integrated model
It can extend and shorten along Y direction, adapt to the product gripping of all size.
Wherein, the first of the first slide unit side captures and is additionally provided with third guide rail 19 on frame, on third guide rail
It is provided with third slide unit, third slide unit is fixed on basic framework, is also equipped with identical Gao get mechanisms on the second crawl frame, is passed through
Two groups of slide assemblies staggered designs ensure that smooth degree and stability when sliding.
Mounting plate 9 is set in the middle part of basic framework, is provided with weighing sensor among mounting plate, mounting plate and basic framework it
Between be additionally provided with axis joined assemblies 11, can learn the specific weight of product in crawl, it is convenient and efficient, and axis connects group and makes
When must capture, there can be certain shaking leeway, reduce impact force of the weight to manipulator, improve service life.
Basic framework is additionally provided with horizontal air cylinder 12 in a side of X-direction, and lifting air is provided on horizontal air cylinder
Cylinder 13, lifting cylinder bottom are provided with side shield 14, and side shield can be stretched out carries out support positioning to product side, ensure that this
Mechanism can vertically move product, play support and set effect, and lifting cylinder bounces back when not in use, can be to avoid side shield
It is contacted with product, it is easy to use.
It is additionally provided with limited post 15 on basic framework and ensures mechanism Bottom Runby, avoids closely or too far causing to press from both sides excessively with product
The problem of taking unsuccessfully, reduces program and calculate the error problem occurred.
Grasping plate quantity on first crawl frame and the second crawl frame is 2, and two grasping plates setting on the first crawl frame exists
On first positive and negative tooth screw rod 16, two grasping plates on the second crawl frame are arranged on the second positive and negative tooth screw rod, the first positive and negative tooth spiral shell
It is connect with power transmission pole 17 in the middle part of bar and the second positive and negative tooth screw rod, it is between power transmission pole and the first positive and negative tooth screw rod and dynamic
It is both provided with bevel reduction gear set 18 between power drive link and the second positive and negative tooth screw rod.By being inputted into action edge to power transmission pole
Rotation, both ends then pass through bevel reduction gear set and form the input of an angle of 90 degrees electronic-controlled power steering so that the first positive and negative tooth screw rod and second positive and negative
Tooth screw rod is rotated, and due to the first positive and negative tooth screw rod and the second positive and negative tooth spiral shell self structure, grasping plate can realize reverse motions,
To realize merging and separated movement effects, to meet various sizes of crawl.
Grasping plate is L-type structure, and surface is provided with anti-slip part, improves crawl effect.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest range caused.
Claims (5)
1. a kind of manipulator crawl Weighing mechanism, it is characterised in that：Including basic framework, the basic framework is along X-direction
Two sides on be both provided with guide rail, the guide rail is arranged along Y direction, is respectively provided with along two guide rails
There are the first slide unit and the second slide unit, two first slide units to be connect with the first crawl frame, two second slide units and second
Frame connection is captured, grasping plate, the corresponding basis of guide rail are both provided on the first crawl frame and the second crawl frame
Belt gear is additionally provided in frame, sandwiched is fixed with first respectively with lower part on the belt top of the belt gear
It is driven clamp arm and the second transmission clamp arm, the first transmission clamp arm is fixed on the first crawl frame, the second transmission folder
Arm setting is on the second crawl frame；
Grasping plate quantity on the first crawl frame and the second crawl frame is 2, and two grasping plates on the first crawl frame are set
It sets on the first positive and negative tooth screw rod, two grasping plates on the second crawl frame are arranged on the second positive and negative tooth screw rod, and described the
It is connect with power transmission pole in the middle part of one positive and negative tooth screw rod and the second positive and negative tooth screw rod, the power transmission pole and the first positive and negative tooth spiral shell
It is both provided with bevel reduction gear set between bar and between power transmission pole and the second positive and negative tooth screw rod.
2. a kind of manipulator according to claim 1 crawl Weighing mechanism, it is characterised in that：In the middle part of the basic framework
Mounting plate is set, is provided with weighing sensor among the mounting plate, axis is additionally provided between the mounting plate and basic framework
Joined assemblies.
3. a kind of manipulator according to claim 1 crawl Weighing mechanism, it is characterised in that：The basic framework is along X
It is additionally provided with horizontal air cylinder in a side of axis direction, lifting cylinder, the lifting cylinder bottom are provided on the horizontal air cylinder
Portion is provided with side shield.
4. a kind of manipulator according to claim 1 crawl Weighing mechanism, it is characterised in that：On the basic framework also
It is provided with limited post.
5. a kind of manipulator according to claim 1 crawl Weighing mechanism, it is characterised in that：The grasping plate is L-type knot
Structure, and surface is provided with anti-slip part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610701011.1A CN106142113B (en) | 2016-08-22 | 2016-08-22 | A kind of manipulator crawl Weighing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610701011.1A CN106142113B (en) | 2016-08-22 | 2016-08-22 | A kind of manipulator crawl Weighing mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106142113A CN106142113A (en) | 2016-11-23 |
| CN106142113B true CN106142113B (en) | 2018-08-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610701011.1A Active CN106142113B (en) | 2016-08-22 | 2016-08-22 | A kind of manipulator crawl Weighing mechanism |
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| Country | Link |
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| CN (1) | CN106142113B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108189062A (en) * | 2018-02-11 | 2018-06-22 | 贾凤鸣 | A kind of glass frame section bar feeding device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2391535A (en) * | 2002-08-07 | 2004-02-11 | John Michael Brennan | H-shaped slider system |
| CN204250922U (en) * | 2014-09-29 | 2015-04-08 | 格兰达技术（深圳）有限公司 | Realize the x-y platform die set of open-close type manipulator accurate pick-and-place rule material |
| CN205033195U (en) * | 2015-09-25 | 2016-02-17 | 广州擎天实业有限公司 | Robot clamp that commonality is strong |
| CN105479487A (en) * | 2014-09-15 | 2016-04-13 | 鸿富锦精密工业（深圳）有限公司 | Variable-pitch device |
| CN205291178U (en) * | 2015-11-30 | 2016-06-08 | 东莞市南兴家具装备制造股份有限公司 | Feeding mechanical arm on carpenter's planer -type sheet material |
| CN206048228U (en) * | 2016-08-22 | 2017-03-29 | 苏州朗坤自动化设备有限公司 | A kind of mechanical hand crawl Weighing mechanism |
-
2016
- 2016-08-22 CN CN201610701011.1A patent/CN106142113B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2391535A (en) * | 2002-08-07 | 2004-02-11 | John Michael Brennan | H-shaped slider system |
| CN105479487A (en) * | 2014-09-15 | 2016-04-13 | 鸿富锦精密工业（深圳）有限公司 | Variable-pitch device |
| CN204250922U (en) * | 2014-09-29 | 2015-04-08 | 格兰达技术（深圳）有限公司 | Realize the x-y platform die set of open-close type manipulator accurate pick-and-place rule material |
| CN205033195U (en) * | 2015-09-25 | 2016-02-17 | 广州擎天实业有限公司 | Robot clamp that commonality is strong |
| CN205291178U (en) * | 2015-11-30 | 2016-06-08 | 东莞市南兴家具装备制造股份有限公司 | Feeding mechanical arm on carpenter's planer -type sheet material |
| CN206048228U (en) * | 2016-08-22 | 2017-03-29 | 苏州朗坤自动化设备有限公司 | A kind of mechanical hand crawl Weighing mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106142113A (en) | 2016-11-23 |
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Address after: High tech Zone Suzhou city Jiangsu province 215011 Yinzhu Road No. 15 Patentee after: Suzhou Longkun automation equipment Co., Ltd Address before: High tech Zone Suzhou city Jiangsu province 215011 Yinzhu Road No. 15 Patentee before: SUZHOU LANGKUN AUTOMATION EQUIPMENT Co.,Ltd. |
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