CN109664261A - A kind of manipulator - Google Patents
A kind of manipulator Download PDFInfo
- Publication number
- CN109664261A CN109664261A CN201910044188.2A CN201910044188A CN109664261A CN 109664261 A CN109664261 A CN 109664261A CN 201910044188 A CN201910044188 A CN 201910044188A CN 109664261 A CN109664261 A CN 109664261A
- Authority
- CN
- China
- Prior art keywords
- block
- row
- clamping element
- mobile bar
- sliding block
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of manipulators, are related to handling device field；Including row beam, an X row block is slidably connected on row beam, being slidably connected on X row block, there are two the brackets being parallel to each other, bracket is vertical with row beam, bracket both ends are connected with a fixed block, an adjusting screw rod is rotatably connected between the fixed block of each bracket, the corresponding fixed block rotation connection in adjusting screw rod both ends, an adjusting bushing is arranged on adjusting screw rod, bushing is adjusted to be fixed on X row block, the corresponding adjusting bush threads cooperation of adjusting screw rod, X row block is equipped with the first driving machine for driving X row block to slide on row beam, link block is connected on bracket, mechanical arm is slidably connected on link block；Adjustable mechanical arm position of the present invention.
Description
Technical field
The invention belongs to handling device field, in particular to a kind of manipulator.
Background technique
In production, it after the completion of injection molding machine is by production, needs to carry product from a place using manipulator
To another place.
Chinese patent Authorization Notice No. CN206066442U authorizes publication date 20170405, discloses that " a kind of M type is indulged away
Manipulator ", including support beam portion and row beam portion, the row beam portion are fixed on the top of support beam portion by bolt,
The M type indulges away manipulator and is additionally provided with a manipulator control system, and M shape rotating part, institute are provided in the row beam portion
Manipulator control system control M shape rotating part is stated, the M shape rotating part, by being slidably connected, revolves the M shape with row beam portion
Transfer part can be slided along X row axis direction；The M shape rotating part includes the sliding row component connecting with row beam portion, M rotation
Shaft assembly and H rotating shaft assembly are provided with the jig of crawl article, the M rotary shaft in the bottom end of the H rotating shaft assembly
Component driver jig is rotated around Y-axis, and the H rotating shaft assembly driving jig rotates about the z axis, the manipulator control system control
Sliding row component and M rotating shaft assembly link, and driving H rotating shaft assembly does straight line elevating movement in the vertical direction, make
It obtains jig and realizes that X-axis is traversing, Y-axis rotates, Z axis lifting moving, and its horizontal position is protected always in the lifting of Z axis vertical direction
It holds constant；The M shape rotating part further includes connecting rod one and connecting rod two, and the connecting rod one and two head and the tail of connecting rod are arranged with being actively coupled
In the side of M rotating shaft assembly, the end of the connecting rod one is connected to the side of H rotating shaft assembly, the front end of the connecting rod two
Setting is on sliding row component；Although the invention improves production efficiency, but when the projector distance of product to row beam compared with
When big, the position of adjustment row beam is generally required, adjustment is cumbersome, and the invention mechanical arm position is non-adjustable.
Summary of the invention
The purpose of the invention is to overcome the nonadjustable disadvantage of prior art position of manipulator, a kind of mechanical arm position is provided
Set adjustable manipulator.
To achieve the goals above, the invention adopts the following technical scheme:
A kind of manipulator, including row beam slidably connect an X row block on the row beam, slide on the X row block
Connection is there are two the bracket being parallel to each other, and the bracket is vertical with row beam, and the bracket both ends are connected with a fixed block, often
An adjusting screw rod, the corresponding fixed block in the adjusting screw rod both ends are rotatably connected between the fixed block of a bracket
It is rotatablely connected, is arranged with an adjusting bushing on the adjusting screw rod, the adjusting bushing is fixed on X row block, institute
The corresponding adjusting bush threads cooperation of adjusting screw rod is stated, the X row block is equipped with for driving X row block in row
The first driving machine slided on beam is connected with link block on the bracket, slidably connects mechanical arm on the link block.
X row block can slide under the action of the first driving machine on row beam, when sliding into product space, X row
Block stops sliding, and after two mechanical arms clamp product, X row block continues to slide, and slides into after designated place, mechanical arm pine
It product is opened, and so on carries product, two mechanical arms can slide on link block, be adapted to so as to change spacing
Different products, when needing to adjust mechanical arm, as long as rotation adjusting screw rod, adjusting screw rod and adjusting bush threads cooperation are adjusted
When saving screw rod rotation, adjusting screw rod is mobile, to drive support motion, to realize the adjustment of mechanical arm position, the present invention can
It is very convenient to change the position of mechanical arm.
Preferably, mechanical arm includes an arm mobile bar vertical with row beam, the arm mobile bar with connect
Block is slidably connected, and the link block is equipped with the second driving machine for driving arm mobile bar to slide on link block, described
Arm mobile bar bottom end is set there are two the clamping element for being used for product clamping, and two clamping elements are with the axial symmetry of arm mobile bar
Arrangement, described clamping element one end passes through wind spring and is hinged on arm mobile bar bottom end, to another in the middle part of the clamping element
The bending of clamping element direction is to constitute V-shape structure, and the clamping element free end is equipped with convex block, and the clamping element exists
Sliding block that convex block slidably connects at one end, each sliding block pass through a bracing wire and connect with link block, the bracing wire against
In the bending part of clamping element, the clamping element is equipped with groove in one end far from convex block, the sliding block be located at groove and
Between convex block, bullet rope is equipped between the convex block and sliding block, the convex block is connect by bullet rope with sliding block, and the groove is close to sliding
One end of block is equipped with chamfering, and the length of the groove is greater than the length of sliding block corresponding direction.
Under the action of wind spring, clamping element has the tendency that mutually pressing from both sides clamping element, applies pulling force to sliding block in bracing wire,
Sliding block is connect by bullet rope with convex block, therefore the pulling force on sliding block passes to bullet rope, and pulling force is passed to convex block by bullet rope, therefore
Pulling force at convex block prevents clamping element from pressing from both sides, and when needing to take product, link block drives the ground where arm mobile bar to product
Side, then under the action of the second driving machine, the decline of arm mobile bar, effect of the sliding block in arm mobile bar in bracing wire at this time
It is lower toward connection Block direction movement, meanwhile, clamping element slightly opens, after slide block movement is to clamping element bending part, due to
Bracing wire is from sliding block to arm mobile bar bottom end to the direction of the component of the pulling force of sliding block, therefore sliding block is to arm mobile bar bottom end
Movement, simultaneously as bracing wire length is fixed, therefore clamping element presss from both sides therewith, and as clamping element folder holds together, sliding block is moved to arm
The component in lever bottom end direction is bigger, and finally, sliding block slides into groove, meanwhile, clamping element clamps product, then second
Under driving machine effect, arm mobile bar is increased, at this point, bracing wire relaxation, due to the presence of product, clamping element will not press from both sides, will
After product is transported to designated place, the decline of arm mobile bar, under the action of bracing wire, sliding block slides in groove, until sliding block
Groove is resisted against close to one end of arm mobile bar bottom end, cannot continue to be pulled, as arm mobile bar continues to decline, bracing wire
The pulling force of sliding block is increased, until pulling force opens clamping element, then product is released, and then arm mobile bar it is rapid on
It rising, sliding block accelerates in groove under the action of bullet rope, the one end of groove far from arm mobile bar bottom end is finally impacted, by
It is equipped with chamfering far from one end of arm mobile bar bottom end in groove, therefore after sliding block impacts chamfering, is impacted except chamfering,
Bending part was impacted always, and arm mobile bar stops rising later, and under the action of wind spring, bracing wire is straightened, clamping element
Come back to original state, in the present invention, mechanical arm configuration is simple.
Preferably, X row block is equipped with standby adjusting group.
Standby adjusting group is added, so as to control present invention work and standby time, there is increasingly automated performance.
The beneficial effects of the present invention are: (1) when needing to adjust mechanical arm, as long as rotation adjusting screw rod, adjusting screw rod with
Bush threads cooperation is adjusted, when adjusting screw rod rotates, adjusting screw rod is mobile, so that support motion is driven, to realize mechanical arm
The adjustment of position, the present invention can change the position of mechanical arm, very convenient；(2) in the present invention, mechanical arm configuration is simple；(3)
Standby adjusting group is added, so as to control present invention work and standby time, there is increasingly automated performance.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of bracket and row beam；
Fig. 3 is the structural schematic diagram of adjusting screw rod；
Fig. 4 is structural schematic diagram of the mechanical arm in state once；
Fig. 5 is partial enlarged view of the Fig. 4 at A；
Fig. 6 is structural schematic diagram of the mechanical arm under state two；
Fig. 7 is structural schematic diagram of the mechanical arm under state three；
Fig. 8 is structural schematic diagram of the mechanical arm under state four；
Fig. 9 is structural schematic diagram of the mechanical arm under state five.
In figure: row beam 1, X row block 2, bracket 3, the first driving machine 4, fixed block 6, adjusting screw rod 7, adjust bushing 8,
Link block 9, arm mobile bar 10, the second driving machine 11, clamping element 12, convex block 13, sliding block 14, bracing wire 15, groove 16, chamfering
17, bullet rope 18, standby adjusting group 19.
Specific embodiment
The present invention is further elaborated on reference to the accompanying drawings and detailed description:
Fig. 1 to Fig. 9 is a kind of manipulator, including row beam 1, slidably connects an X row block 2 on the row beam 1, described
It is slidably connected on X row block 2 there are two the bracket 3 being parallel to each other, the bracket 3 is vertical with row beam 1,3 both ends of bracket
It is connected with a fixed block 6, an adjusting screw rod 7, the adjusting spiral shell are rotatably connected between the fixed block 6 of each bracket 3
The corresponding fixed block 6 in 7 both ends of bar is rotatablely connected, and is arranged with an adjusting bushing 8 on the adjusting screw rod 7, described
It adjusts bushing 8 to be fixed on X row block 2, the corresponding adjusting bushing 8 of the adjusting screw rod 7 is threadedly engaged, the X
Row block 2 is equipped with the first driving machine 4 for driving X row block 2 to slide on row beam 1, the company of being connected on the bracket 3
Block 9 is connect, slidably connects mechanical arm on the link block 9.
X row block can slide under the action of the first driving machine on row beam, when sliding into product space, X row
Block stops sliding, and after two mechanical arms clamp product, X row block continues to slide, and slides into after designated place, mechanical arm pine
It product is opened, and so on carries product, two mechanical arms can slide on link block, be adapted to so as to change spacing
Different products, when needing to adjust mechanical arm, as long as rotation adjusting screw rod, adjusting screw rod and adjusting bush threads cooperation are adjusted
When saving screw rod rotation, adjusting screw rod is mobile, to drive support motion, to realize the adjustment of mechanical arm position, the present invention can
It is very convenient to change the position of mechanical arm.
Mechanical arm includes an arm mobile bar 10 vertical with row beam 1, and the arm mobile bar 10 and link block 9 are sliding
Dynamic connection, the link block 9 are equipped with the second driving machine 11 for driving arm mobile bar 10 to slide on link block 9, institute
It states 10 bottom end of arm mobile bar to set there are two the clamping element 12 for being used for product clamping, two clamping elements 12 are with arm mobile bar
10 axial symmetry arrangement, described 12 one end of clamping element pass through wind spring and are hinged on 10 bottom end of arm mobile bar, the clamping member
12 middle part of part bends to constitute V-shape structure to another 12 direction of clamping element, and 12 free end of clamping element is all provided with
There is convex block 13, the clamping element 12 passes through one in 13 sliding block 14 that slidably connects at one end of convex block, each sliding block 14
Root bracing wire 15 is connect with link block 9, and the bracing wire 15 is resisted against the bending part of clamping element 12, and the clamping element 12 is remote
One end from convex block 13 is equipped with groove 16, and the sliding block 14 is between groove 16 and convex block 13, the convex block 13 and sliding block 14
Between be equipped with bullet rope 18, the convex block 13 is connect by bullet rope 18 with sliding block 14, and the groove 16 is set close to one end of sliding block 14
There is chamfering 17, the length of the groove 16 is greater than the length of 14 corresponding direction of sliding block.
Under the action of wind spring, clamping element has the tendency that mutually pressing from both sides clamping element, applies pulling force to sliding block in bracing wire,
Sliding block is connect by bullet rope with convex block, therefore the pulling force on sliding block passes to bullet rope, and pulling force is passed to convex block by bullet rope, therefore
Pulling force at convex block prevents clamping element from pressing from both sides, and when needing to take product, link block drives the ground where arm mobile bar to product
Side, then under the action of the second driving machine, the decline of arm mobile bar, effect of the sliding block in arm mobile bar in bracing wire at this time
It is lower toward connection Block direction movement, meanwhile, clamping element slightly opens, after slide block movement is to clamping element bending part, due to
Bracing wire is from sliding block to arm mobile bar bottom end to the direction of the component of the pulling force of sliding block, therefore sliding block is to arm mobile bar bottom end
Movement, simultaneously as bracing wire length is fixed, therefore clamping element presss from both sides therewith, and as clamping element folder holds together, sliding block is moved to arm
The component in lever bottom end direction is bigger, and finally, sliding block slides into groove, meanwhile, clamping element clamps product, then second
Under driving machine effect, arm mobile bar is increased, at this point, bracing wire relaxation, due to the presence of product, clamping element will not press from both sides, will
After product is transported to designated place, the decline of arm mobile bar, under the action of bracing wire, sliding block slides in groove, until sliding block
Groove is resisted against close to one end of arm mobile bar bottom end, cannot continue to be pulled, as arm mobile bar continues to decline, bracing wire
The pulling force of sliding block is increased, until pulling force opens clamping element, then product is released, and then arm mobile bar it is rapid on
It rising, sliding block accelerates in groove under the action of bullet rope, the one end of groove far from arm mobile bar bottom end is finally impacted, by
It is equipped with chamfering far from one end of arm mobile bar bottom end in groove, therefore after sliding block impacts chamfering, is impacted except chamfering,
Bending part was impacted always, and arm mobile bar stops rising later, and under the action of wind spring, bracing wire is straightened, clamping element
Come back to original state, in the present invention, mechanical arm configuration is simple.
X row block 2 is equipped with standby adjusting group 19.
Standby adjusting group is added, so as to control present invention work and standby time, there is increasingly automated performance.
Claims (3)
1. a kind of manipulator, including row beam, which is characterized in that an X row block is slidably connected on the row beam, it is described
It is slidably connected on X row block there are two the bracket being parallel to each other, the bracket is vertical with row beam, and the bracket both ends are connected with
One fixed block, is rotatably connected to an adjusting screw rod between the fixed block of each bracket, the adjusting screw rod both ends with
Its corresponding fixed block is rotatablely connected, and is arranged with an adjusting bushing on the adjusting screw rod, the adjusting bushing is affixed
On X row block, the corresponding adjusting bush threads cooperation of the adjusting screw rod, the X row block is equipped with for driving
The first driving machine that X row block slides on row beam is moved, link block, the company of sliding on the link block are connected on the bracket
It is connected to mechanical arm.
2. a kind of manipulator according to claim 1, which is characterized in that the mechanical arm includes one vertical with row beam
Arm mobile bar, the arm mobile bar is slidably connected with link block, and the link block is equipped with for driving arm mobile
The second driving machine that bar slides on link block, arm mobile bar bottom end set there are two for product clamping clamping member
Part, two clamping elements arrange that described clamping element one end passes through wind spring and is hinged on arm with the axial symmetry of arm mobile bar
Mobile bar bottom end, the clamping element middle part bend to constitute V-shape structure, the clamping to another clamping element direction
Element free end is equipped with convex block, and for the clamping element in sliding block that convex block slidably connects at one end, each sliding block is logical
It crosses a bracing wire to connect with link block, the bracing wire is resisted against the bending part of clamping element, and the clamping element is far from convex
One end of block is equipped with groove, and the sliding block is equipped with bullet rope between groove and convex block between the convex block and sliding block, described convex
Block is connect by bullet rope with sliding block, and the groove is equipped with chamfering close to one end of sliding block, and the length of the groove is greater than sliding block pair
Answer the length in direction.
3. a kind of manipulator according to claim 1 or 2, which is characterized in that the X row block is equipped with standby adjusting
Group.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910044188.2A CN109664261B (en) | 2019-01-17 | 2019-01-17 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910044188.2A CN109664261B (en) | 2019-01-17 | 2019-01-17 | Mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109664261A true CN109664261A (en) | 2019-04-23 |
| CN109664261B CN109664261B (en) | 2020-06-16 |
Family
ID=66150700
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910044188.2A Active CN109664261B (en) | 2019-01-17 | 2019-01-17 | Mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109664261B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4712973A (en) * | 1986-05-15 | 1987-12-15 | Westinghouse Electric Corp. | Two servo axis, AC powered robot wrist |
| CA2659004A1 (en) * | 2008-04-30 | 2009-10-30 | Blohm + Voss Repair Gmbh | Tool manipulator especially for onshore and offshore drilling platforms |
| CN201769345U (en) * | 2010-09-14 | 2011-03-23 | 中山市钜通机电技术有限公司 | Tri-axis servo manipulator |
| CN104260076A (en) * | 2014-09-26 | 2015-01-07 | 哈尔滨工程大学 | Omni-directional intelligent furniture paint spraying robot |
| CN104669236A (en) * | 2013-11-29 | 2015-06-03 | 徐建 | Side-obtaining truss tri-axial servo robot |
| CN204450521U (en) * | 2015-01-26 | 2015-07-08 | 宁波斯曼尔电器有限公司 | The conveying device of manipulator |
| CN106426123A (en) * | 2016-08-31 | 2017-02-22 | 宁波伟立机器人科技有限公司 | M-shaped longitudinal traveling mechanical hand and application method thereof |
| CN106584496A (en) * | 2017-01-18 | 2017-04-26 | 瑞安市智造科技有限公司 | Mechanical paw convenient to quickly adjust |
| CN207757652U (en) * | 2017-12-22 | 2018-08-24 | 东莞市嘉翼智能装备有限公司 | A kind of linear motion multi-spindle machining hand |
| CN108927786A (en) * | 2018-08-06 | 2018-12-04 | 燕山大学 | The force adaptive of Omni-mobile picks and places robot |
| CN108942875A (en) * | 2017-05-19 | 2018-12-07 | 南京理工大学 | A kind of mechanical arm |
| CN109015715A (en) * | 2018-09-13 | 2018-12-18 | 重庆环视高科技有限公司 | A kind of bottle inspector robot |
-
2019
- 2019-01-17 CN CN201910044188.2A patent/CN109664261B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4712973A (en) * | 1986-05-15 | 1987-12-15 | Westinghouse Electric Corp. | Two servo axis, AC powered robot wrist |
| CA2659004A1 (en) * | 2008-04-30 | 2009-10-30 | Blohm + Voss Repair Gmbh | Tool manipulator especially for onshore and offshore drilling platforms |
| CN201769345U (en) * | 2010-09-14 | 2011-03-23 | 中山市钜通机电技术有限公司 | Tri-axis servo manipulator |
| CN104669236A (en) * | 2013-11-29 | 2015-06-03 | 徐建 | Side-obtaining truss tri-axial servo robot |
| CN104260076A (en) * | 2014-09-26 | 2015-01-07 | 哈尔滨工程大学 | Omni-directional intelligent furniture paint spraying robot |
| CN204450521U (en) * | 2015-01-26 | 2015-07-08 | 宁波斯曼尔电器有限公司 | The conveying device of manipulator |
| CN106426123A (en) * | 2016-08-31 | 2017-02-22 | 宁波伟立机器人科技有限公司 | M-shaped longitudinal traveling mechanical hand and application method thereof |
| CN106584496A (en) * | 2017-01-18 | 2017-04-26 | 瑞安市智造科技有限公司 | Mechanical paw convenient to quickly adjust |
| CN108942875A (en) * | 2017-05-19 | 2018-12-07 | 南京理工大学 | A kind of mechanical arm |
| CN207757652U (en) * | 2017-12-22 | 2018-08-24 | 东莞市嘉翼智能装备有限公司 | A kind of linear motion multi-spindle machining hand |
| CN108927786A (en) * | 2018-08-06 | 2018-12-04 | 燕山大学 | The force adaptive of Omni-mobile picks and places robot |
| CN109015715A (en) * | 2018-09-13 | 2018-12-18 | 重庆环视高科技有限公司 | A kind of bottle inspector robot |
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| Publication number | Publication date |
|---|---|
| CN109664261B (en) | 2020-06-16 |
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Denomination of invention: A manipulator Effective date of registration: 20220211 Granted publication date: 20200616 Pledgee: China Co. truction Bank Corp Yuyao branch Pledgor: NINGBO WELLLIH ROBOT TECHNOLOGY CO.,LTD. Registration number: Y2022330000201 |