CN106965152A - A kind of workshop mobile manipulator - Google Patents
A kind of workshop mobile manipulator Download PDFInfo
- Publication number
- CN106965152A CN106965152A CN201710180260.5A CN201710180260A CN106965152A CN 106965152 A CN106965152 A CN 106965152A CN 201710180260 A CN201710180260 A CN 201710180260A CN 106965152 A CN106965152 A CN 106965152A
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- Prior art keywords
- group
- rectangular box
- fixed
- mobile manipulator
- pair
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of workshop mobile manipulator, including installing one group of rack on the underframe, gear is separately installed with one group of rack, one group of gear opposite external side surface center is provided with rotary shaft, rectangular box is installed jointly in the rotary shaft, one group of electric rotating machine is installed in the rectangular box, one group of electric rotating machine round end is fixedly connected with one group of rotary shaft one end respectively, provided with one group of slide rail between one group of rack, sliding block is mounted in the slide rail, bolt connection has fixed mount to the outer upper surface of one group of sliding block respectively, one group of fixed mount is fixed with lower surface outside rectangular box weld respectively.The beneficial effects of the invention are as follows the technical program can effectively left and right and front and back position movement, in shop production line, can be greatly improved production needs.
Description
Technical field
The present invention relates to manipulator field, particularly a kind of workshop mobile manipulator.
Background technology
Some holding functions of human hand and arm can be imitated, object or operation instrument are captured, carried by fixed routine
Automatic pilot.Manipulator is the industrial robot occurred earliest, is also the modern machines people occurred earliest, and it can replace people
Heavy labor to realize the mechanization and automation of production, can be operated under hostile environment to protect personal safety, thus extensively
It is general to be applied to the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
And most of manipulators can only be fixed in situ at present, it is impossible to which the position for carrying out left and right horizontal and anterior-posterior horizontal is moved
It is dynamic, still there are many inconveniences.
The content of the invention
The invention aims to solve the above problems, a kind of workshop mobile manipulator is devised.
Realize above-mentioned purpose the technical scheme is that, a kind of workshop mobile manipulator, including underframe, on the underframe
Install and gear is separately installed with one group of rack, one group of rack, one group of gear opposite external side surface center is installed
Have to be provided with jointly in rectangular box, the rectangular box in rotary shaft, the rotary shaft and one group of electric rotating machine is installed, it is described
One group of electric rotating machine round end is fixedly connected with one group of rotary shaft one end respectively, provided with one group of slide rail between one group of rack,
Sliding block is mounted in the slide rail, bolt connection has fixed mount to the outer upper surface of one group of sliding block respectively, and described one group is fixed
Frame is fixed with lower surface outside rectangular box weld respectively, and the rectangular box is provided with height regulating mechanism, the height adjustment
Mechanism be provided with front-and-back adjusting mechanism, the front-and-back adjusting mechanism be provided with rotary grasping manipulator, height regulating mechanism be by
It is opened in the telescope motor of lower surface central part in rectangular box, is fixed on a pair of supporting of lower surface, bearing pin in rectangular box
It is connected to the one-to-one motion bar of support frame side surface, is inserted into pin rod, a bearing pin of one-to-one motion bar central part
No. two motion bars of a pair be connected on a motion bar, No. two pin rods, bearing pins for being inserted into a pair of No. two motion bar central parts
No. three motion bars being connected on No. two motion bars, No. three pin rods and both ends of the surface point for being inserted into a pair No. three motion bar central parts
Not with No. three motion bar end face bearing pins are connected moves towards what plate was collectively formed.
The front-and-back adjusting mechanism is the needle roller by being fixed on a pair of pedestal, Qian Installed for moving towards plate end face in pedestal central part
Bearing, an actuator being fixed on the outer wall of pedestal, the roller screw being inserted between needle bearing, on equipped roller screw
Spline, be fitted in moving towards block, being commonly mounted on the fixed plate moved towards on block for a pair and be arranged on fixed plate with walking on spline
Collectively formed to the auxiliary travel mechanism between plate.
The rotary grasping manipulator is fixed in fixed plate by foundation bolt.
Fixed on the underframe on four threaded rods, the threaded rod and engage round platform.
Fixed rotation hand on the round platform, the rotation is processed anti-skidding stupefied on hand.
The auxiliary travel mechanism is collectively formed by the rail guide piece for moving towards the guide rail on plate He being fitted on guide rail, institute
Rail guide piece is stated to be attached with fixed plate.
The rectangular box side surface is provided with binding post.
The outer upper surface of the rectangular box is provided with fixing device, and the fixing device is connected with foundation bolt.
A number actuator is electric rotating machine；Motor driver is installed on a number actuator.
The workshop mobile manipulator made using technical scheme, the technical program can effectively left and right and before
The movement of position afterwards, in shop production line, can be greatly improved production needs.
Brief description of the drawings
Fig. 1 is a kind of structural representation of workshop mobile manipulator of the present invention；
Fig. 2 is a kind of part-structure figure of workshop mobile manipulator of the present invention；
Fig. 3 is the structural representation of movable mechanism of the present invention；
In figure, 1, underframe；2nd, rack；3rd, gear；4th, rotary shaft；5th, rectangular box；6th, electric rotating machine；7th, slide rail；8th, sliding block；9、
Fixed mount；10th, rectangular box；11st, rotary grasping manipulator；12nd, telescope motor；13rd, support frame；14th, a motion bar；15、
No. three motion bars；16th, No. two motion bars；17th, plate is moved towards；18th, pedestal；19th, an actuator；20th, motor driver；21st, roll
Axial filament thick stick；22nd, spline；23rd, block is moved towards；24th, fixed plate；25th, threaded rod；26th, round platform；27th, hand is rotated；28th, guide rail；29th, lead
Rail member；30th, binding post；31st, fixing device.
Embodiment
The present invention is specifically described below in conjunction with the accompanying drawings, as Figure 1-3, a kind of workshop mobile manipulator, including
Installed on underframe 1, the underframe 1 and gear 3, one group of gear 3 phase are separately installed with one group of rack 2, one group of rack 2
Outer surface center is provided with rotary shaft 4, the rotary shaft 4 and rectangular box 5 is installed jointly, the rectangular box 5
One group of electric rotating machine 6 is inside installed, one group of electric rotating machine 6 round end is fixedly connected with one group of one end of rotary shaft 4 respectively, institute
State between one group of rack 2 provided with one group of slide rail 7, be mounted on sliding block 8 in the slide rail 7, the outer upper surface of one group of sliding block 8 is divided
Other bolt connection has fixed mount 9, and one group of fixed mount 9 is fixed with the outer lower surface of rectangular box 10 weld respectively, the rectangle
Casing 5 is provided with height regulating mechanism, and the height regulating mechanism is provided with front-and-back adjusting mechanism, the front-and-back adjusting mechanism
Provided with rotary grasping manipulator 11, height regulating mechanism be by be opened in the telescope motor 12 of lower surface central part in rectangular box 5,
It is fixed on the one-to-one activity that a pair of supporting 13 of lower surface in rectangular box 5, bearing pin are connected to the side surface of support frame 13
Bar 14, a pin rod, the bearing pin for being inserted into the central part of one-to-one motion bar 14 are connected to a pair two on a motion bar 14
Number motion bar 16, No. two pin rods, the bearing pin for being inserted into a pair of No. two central parts of motion bar 16 are connected on No. two motion bars 16
No. three motion bars 15, be inserted into No. three pin rods and both ends of the surface of a pair No. three central parts of motion bar 15 respectively with No. three motion bars 15
What end face bearing pin was connected moves towards what plate 17 was collectively formed；The front-and-back adjusting mechanism is moved towards by being fixed on a pair of the end face of plate 17
The, Qian Installed of pedestal 18 the central part of pedestal 18 needle bearing, be fixed on the outer wall of pedestal 18 an actuator 19, be inserted into rolling
Roller screw 21 between needle bearing, the spline 22 on equipped roller screw 21, be fitted on spline 22 move towards block 23, it is common
The fixed plate 24 moved towards installed in a pair on block 23 and the auxiliary travel mechanism for being arranged on fixed plate 24 and moving towards between plate 17 are total to
With what is constituted；The rotary grasping manipulator 11 is fixed in fixed plate 24 by foundation bolt；Four are fixed on the underframe 1
Round platform 26 is engaged on threaded rod 25, the threaded rod 25；Processed on fixed rotation hand 27 on the round platform 26, the rotation hand 27
It is anti-skidding stupefied；The auxiliary travel mechanism is the common structure of rail guide piece 29 by moving towards the guide rail 28 on plate 17 He being fitted on guide rail 28
Into, the rail guide piece 29 is attached with fixed plate 24；The side surface of rectangular box 5 is provided with binding post 30；It is described
The outer upper surface of rectangular box 5 is provided with fixing device 31, and the fixing device 31 is connected with foundation bolt；A number actuator
19 be electric rotating machine 6；Motor driver 20 is installed on a number actuator 19.
The characteristics of the present embodiment is that one group of rack is installed on underframe, and gear, one group of tooth are separately installed with one group of rack
Wheel opposite external side surface center is provided with rotary shaft, rotary shaft is provided with rectangular box jointly, is provided with rectangular box
One group of electric rotating machine, one group of electric rotating machine round end is fixedly connected with one group of rotary shaft one end respectively, is provided between one group of rack
Sliding block is mounted in one group of slide rail, slide rail, bolt connection has fixed mount, one group of fixed mount point to the outer upper surface of one group of sliding block respectively
Do not fix and weld with lower surface outside rectangular box, rectangular box is provided with height regulating mechanism, before height regulating mechanism is provided with
Adjustment mechanism afterwards, front-and-back adjusting mechanism is provided with rotary grasping manipulator, and height regulating mechanism is under being opened in rectangular box
The telescope motor in centre of surface portion, it is fixed on a pair of supporting of lower surface, bearing pin in rectangular box and is connected to support frame side table
The one-to-one motion bar in face, a pin rod, the bearing pin for being inserted into one-to-one motion bar central part are connected to a motion bar
On a pair of No. two motion bars, No. two pin rods, the bearing pin that are inserted into a pair of No. two motion bar central parts be connected to No. two motion bars
On No. three motion bars, be inserted into No. three pin rods and both ends of the surface of a pair No. three motion bar central parts respectively with No. three movable rod ends
Bearing pin connection in face moves towards what plate was collectively formed, the technical program can effective left and right and the movement of front and back position, in workshop
In production line, production needs can be greatly improved.
In the present embodiment, PLC Series Controllers and motor driver are installed first at the present apparatus free time, with model
Exemplified by SIEMENS controller, first by those skilled in the art by the controller and motor driver of the model, electric rotating machine
6th, the terminals connection of rotating machinery crawl hand 11 and telescope motor 12, concrete operating principle is as follows, and a pair of rotations are controlled first
Motor 6 rotates with rotary shaft 4, then after gear 3 is engaged with rack 2, the left and right horizontal displacement of rectangular box 5, while square
Fixing support rack 13 on shape casing 5, and sliding block 8 is equipped with slide rail 7, while fixed mount 9 is placed on sliding block 8, by fixation
Frame 9 is fixed with the bottom surface of rectangular box 5 and welded, and plate 17 is moved towards while fixing the telescopic end of telescope motor 12 in upper surface and fixing, in order to
The stability of plate 17 is moved towards in guarantee, and a pair of supporting 13 is set in the lower surface of rectangular box 5, and one is connected in the upper pin of support frame 13
To a motion bar 14, No. two motion bars 16 are connected at the upper end of one-to-one motion bar 14 respectively, are sold on No. two motion bars 16
Axle connects No. three motion bars 15, a pin rod is connected in the common bearing pin of the central part of one-to-one motion bar 14, in a pair of No. two work
The central part bearing pin of lever 16 connects No. two pin rods, No. three motion bars 15 is connected in a pair of No. three upper pins of motion bar 15, by a pair
The other end of No. three motion bars 15 is connected with the side surface bearing pin of tea set frame respectively, so after telescope motor 12 stretch,
It can be supported jointly to moving towards plate 17 by a motion bar 14, No. two motion bars 16 and No. three motion bars 15, its secondary control
After the driving roller screw 21 leading screw rotation of one-to-one actuator 19, spline 22 can be moved forward and backward with block 23 is moved towards, and be located to walk
To the side-to-side movement of fixed plate 24 on block 23, so since rotary grasping manipulator 11 can just move left and right.
Above-mentioned technical proposal only embodies the optimal technical scheme of technical solution of the present invention, those skilled in the art
Some of which part may be made some variation embodies the present invention principle, belong to protection scope of the present invention it
It is interior.
Claims (10)
1. a kind of workshop mobile manipulator, including underframe（1）, it is characterised in that the underframe（1）One group of rack of upper installation（2）,
One group of rack（2）On be separately installed with gear（3）, one group of gear（3）Opposite external side surface center is provided with rotation
Rotating shaft（4）, the rotary shaft（4）On rectangular box is installed jointly（5）, the rectangular box（5）One group of rotation is inside installed
Motor（6）, one group of electric rotating machine（6）Round end respectively with one group of rotary shaft（4）One end is fixedly connected, one group of rack
（2）Between provided with one group of slide rail（7）, the slide rail（7）Inside it is mounted on sliding block（8）, one group of sliding block（8）Outer upper surface point
Other bolt connection has fixed mount（9）, one group of fixed mount（9）Respectively with rectangular box（10）Outer lower surface fixes welding, institute
State rectangular box（5）Height regulating mechanism is provided with, the height regulating mechanism is provided with front-and-back adjusting mechanism, the front and rear tune
Complete machine structure is provided with rotary grasping manipulator（11）, height regulating mechanism is by being opened in rectangular box（5）Interior lower surface central part
Telescope motor（12）, be fixed on rectangular box（5）A pair of supporting of interior lower surface（13）, bearing pin be connected to support frame（13）
The one-to-one motion bar of side surface（14）, be inserted into one-to-one motion bar（14）A number pin rod of central part, bearing pin connection
In a motion bar（14）On a pair of No. two motion bars（16）, be inserted into a pair of No. two motion bars（16）No. two pins of central part
Bar, bearing pin are connected to No. two motion bars（16）On No. three motion bars（15）, be inserted into a pair of No. three motion bars（15）Central part
No. three pin rods and both ends of the surface respectively with No. three motion bars（15）What end face bearing pin was connected moves towards plate（17）Collectively form.
2. a kind of workshop mobile manipulator according to claim 1, it is characterised in that the front-and-back adjusting mechanism is by solid
It is scheduled on and moves towards plate（17）A pair of pedestals of end face（18）, Qian Installed are in pedestal（18）The needle bearing of central part, it is fixed on pedestal
（18）An actuator on outer wall（19）, the roller screw that is inserted between needle bearing（21）, equipped roller screw（21）
On spline（22）, be fitted in spline（22）On move towards block（23）, be commonly mounted on a pair and move towards block（23）On fixed plate
（24）Be arranged on fixed plate（24）With moving towards plate（17）Between auxiliary travel mechanism collectively form.
3. a kind of workshop mobile manipulator according to claim 1 or 2, it is characterised in that the rotary grasping manipulator
（11）Fixed plate is fixed on by foundation bolt（24）On.
4. a kind of workshop mobile manipulator according to claim 1, it is characterised in that the underframe（1）On fix four
Threaded rod（25）, the threaded rod（25）Upper engagement round platform（26）.
5. a kind of workshop mobile manipulator according to claim 1, it is characterised in that the round platform（26）Upper fixed rotation
Hand（27）, the rotation hand（27）Upper processing is anti-skidding stupefied.
6. a kind of workshop mobile manipulator according to claim 1, it is characterised in that the auxiliary travel mechanism is by walking
To plate（17）On guide rail（28）Be fitted in guide rail（28）On rail guide piece（29）Collectively form, the rail guide piece（29）With
Fixed plate（24）It is attached.
7. a kind of workshop mobile manipulator according to claim 1, it is characterised in that the rectangular box（5）Side surface
Binding post is installed（30）.
8. a kind of workshop mobile manipulator according to claim 1, it is characterised in that the rectangular box（5）Outer upper table
Face is provided with fixing device（31）, the fixing device（31）It is connected with foundation bolt.
9. a kind of workshop mobile manipulator according to claim 4 a, it is characterised in that actuator（19）For rotation
Rotating motor（6）.
10. a kind of workshop mobile manipulator according to claim 1 a, it is characterised in that actuator（19）On
Motor driver is installed（20）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710180260.5A CN106965152A (en) | 2017-03-24 | 2017-03-24 | A kind of workshop mobile manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710180260.5A CN106965152A (en) | 2017-03-24 | 2017-03-24 | A kind of workshop mobile manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106965152A true CN106965152A (en) | 2017-07-21 |
Family
ID=59329612
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710180260.5A Pending CN106965152A (en) | 2017-03-24 | 2017-03-24 | A kind of workshop mobile manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106965152A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108730811A (en) * | 2018-05-07 | 2018-11-02 | 深圳市奈士迪技术研发有限公司 | One kind is convenient for contraction and fixed intelligent desk lamp |
| CN111347405A (en) * | 2020-05-25 | 2020-06-30 | 佛山隆深智能装备有限公司 | Carrying manipulator for plate-type furniture |
| CN112936239A (en) * | 2021-03-19 | 2021-06-11 | 丁斌 | Multidirectional adjustable welding mechanical arm structure and use method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6221621A (en) * | 1985-07-17 | 1987-01-30 | Sanki Eng Co Ltd | Machine for transferring funnel of cathode-ray tube |
| CN102642199A (en) * | 2012-05-07 | 2012-08-22 | 上海电机学院 | Robot for carrying warehouses |
| CN105690387A (en) * | 2016-03-31 | 2016-06-22 | 马骏 | Intelligent mechanical arm based on internet of things |
| CN106181962A (en) * | 2016-07-12 | 2016-12-07 | 诺伯特智能装备（山东）有限公司 | Transportation industrial robot |
| CN106493843A (en) * | 2016-12-26 | 2017-03-15 | 马有征 | A kind of remotely control porcelain molding cleaning equipment |
-
2017
- 2017-03-24 CN CN201710180260.5A patent/CN106965152A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6221621A (en) * | 1985-07-17 | 1987-01-30 | Sanki Eng Co Ltd | Machine for transferring funnel of cathode-ray tube |
| CN102642199A (en) * | 2012-05-07 | 2012-08-22 | 上海电机学院 | Robot for carrying warehouses |
| CN105690387A (en) * | 2016-03-31 | 2016-06-22 | 马骏 | Intelligent mechanical arm based on internet of things |
| CN106181962A (en) * | 2016-07-12 | 2016-12-07 | 诺伯特智能装备（山东）有限公司 | Transportation industrial robot |
| CN106493843A (en) * | 2016-12-26 | 2017-03-15 | 马有征 | A kind of remotely control porcelain molding cleaning equipment |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108730811A (en) * | 2018-05-07 | 2018-11-02 | 深圳市奈士迪技术研发有限公司 | One kind is convenient for contraction and fixed intelligent desk lamp |
| CN111347405A (en) * | 2020-05-25 | 2020-06-30 | 佛山隆深智能装备有限公司 | Carrying manipulator for plate-type furniture |
| CN112936239A (en) * | 2021-03-19 | 2021-06-11 | 丁斌 | Multidirectional adjustable welding mechanical arm structure and use method thereof |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170721 |