CN113618727B - Feeding mechanical arm in truss-like - Google Patents
Feeding mechanical arm in truss-like Download PDFInfo
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- CN113618727B CN113618727B CN202111006529.0A CN202111006529A CN113618727B CN 113618727 B CN113618727 B CN 113618727B CN 202111006529 A CN202111006529 A CN 202111006529A CN 113618727 B CN113618727 B CN 113618727B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0293—Gripping heads and other end effectors servo-actuated comprising parallel grippers having fingers directly connected to actuator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a truss type feeding and discharging manipulator, which relates to the technical field of material transfer equipment and comprises two supporting frames arranged in front and back, wherein two truss beam plates which are horizontally arranged side by side are fixedly arranged between the two supporting frames, a translation mechanism is slidably arranged on each truss beam plate, a translation oil cylinder for driving the translation mechanism to slide is arranged at the upper end of one of the supporting frames, arc plates are arranged on two sides of the translation mechanism, two fixing assemblies are connected between the two arc plates, the two fixing assemblies are symmetrically distributed on the axes of the arc plates, sliding assemblies fixed with a clamp of the translation mechanism are symmetrically arranged on the inner walls of the two arc plates, and a manipulator mechanism is fixed on the upper end of one fixing assembly through a bolt; compared with a common manipulator, the manipulator mechanism disclosed by the invention is matched with other components, so that the manipulator mechanism has a larger operation range and a better application prospect.
Description
Technical Field
The invention relates to the technical field of material transfer equipment, in particular to a truss type feeding and discharging manipulator.
Background
A manipulator is an automatic operating device which can imitate certain motion functions of human hands and arms and grab, carry objects or operate tools according to a fixed program, and mainly comprises an executing mechanism, a driving mechanism and a control system. The truss type loading and unloading manipulator can replace people to carry out heavy labor so as to realize mechanization and automation of production, is widely applied to numerical control processing equipment, material transfer devices, stacking devices and the like, but the operation coverage range of the execution mechanism is limited due to the limitation of the degree of freedom of rotation of the execution mechanism of the manipulator and the size limitation caused by application scenes.
Disclosure of Invention
The invention aims to provide a truss type feeding and discharging manipulator, which solves the following technical problems:
the problem that the operation coverage of an execution mechanism of a manipulator is limited due to the limitation of the rotational degree of freedom and the size limitation caused by an application scene is solved;
the problem of the assembly accomplish the back, can receive limit for height influence in whole transportation process is solved.
The purpose of the invention can be realized by the following technical scheme:
the utility model provides a last unloading manipulator of truss-like, includes two support frames that are the front and back setting, and fixed mounting has two longeron beam slabs that are the level and set up side by side between two support frames, slidable mounting has translation mechanism on the longeron beam slab, and the upper end of one of them support frame is provided with the translation hydro-cylinder that drives translation mechanism and carry out the gliding, translation mechanism's both sides all are provided with the arc, are connected with two fixed subassemblies between two arcs, and two fixed subassemblies are the symmetric distribution about the axis of arc, and equal symmetry is installed on the inner wall of two arcs and is had the slip subassembly fixed with translation mechanism clamp, and the upper end bolt fastening of one of them fixed subassembly has manipulator mechanism.
As a further scheme of the invention: the fixed subassembly contains the fixed block, the inside of fixed block is provided with fixed axostylus axostyle, fixed mounting has a plurality of to be the joint piece that annular array arranged on the surface of fixed axostylus axostyle, the inside of fixed block sets up the draw-in groove, specifically does: the clamping block and the fixing shaft rod are of an integrated structure, and a clamping groove matched with the integrated structure formed by the clamping block and the fixing shaft rod is arranged in the fixing block; the two sides of the fixed block are both provided with rotating columns connected with the fixed shaft rod, and the rotating columns are provided with limiting screws; all be provided with the pinion rack on the inner wall of arc and fixed block, and all the symmetry set up the spout with slip subassembly looks adaptation on the inner wall of arc and fixed block.
As a further scheme of the invention: translation mechanism contains the translation base, the upper surface both sides of translation base are all installed two and are the connection cylinder that sets up side by side, interior plate and outer panel are installed to the lower surface symmetry of translation base, and two interior plates all are located between two outer panels, the inside of translation base is provided with the cavity, the upper end of interior plate and outer panel all extends to the inside of translation base, and the inside push cylinder that is connected with two interior plates respectively that is provided with of cavity is one, and the inside symmetry that still is provided with of cavity is connected with two outer panels respectively two, all rotate on interior plate and the outer panel and install a plurality of and be the gyro wheel that the equidistance was arranged, one side fixed mounting of translation base has motor power.
As a further scheme of the invention: a gear meshed with the toothed plate is sleeved on the output end of the power motor; the sliding assembly comprises a sliding block, a connecting shaft rod is connected to the sliding block, and one end, far away from the sliding block, of the connecting shaft rod is fixed to an output end hoop of the connecting cylinder; the arc plate is provided with a rotating groove matched with the rotating column, the arc plate and the rotating column are both provided with limit grooves matched with the limit screws, and the rotating groove is communicated with the limit grooves.
As a further scheme of the invention: the manipulator mechanism comprises a fixed disc, an installation base is rotatably installed at the upper end of the fixed disc, a rotating motor for driving the installation base to rotate is arranged in the fixed disc, a first connecting part is rotatably installed at the upper end of the installation base, a first motor for driving the first connecting part to rotate is arranged on the installation base, a second connecting part is rotatably installed at the upper end of the first connecting part, a second motor for driving the second connecting part to rotate is arranged on the first connecting part, a third connecting part is arranged on one side of the second connecting part, a rotating motor for driving the third connecting part to rotate is arranged on the other side of the second connecting part, a rotating plate is rotatably installed at one end, far away from the second connecting part, of the third connecting part, a third motor for driving the rotating plate to rotate is arranged on the third connecting part, and a first clamping plate is fixedly connected at one end, far away from the third connecting part, of the rotating plate, clamping cylinders are symmetrically installed on the first clamping plate, the output end of each clamping cylinder is connected with a second clamping plate, and the second clamping plate is located on one side of the first clamping plate.
The invention has the beneficial effects that:
1. the invention is convenient for assembly and disassembly, each part can be independently replaced when damaged, the maintenance cost is reduced, and the occupied space can be reduced after disassembly, thereby being convenient for storage.
2. After the operation is finished, the manipulator mechanism can be hidden, the manipulator mechanism is rotated to the position between the two arc-shaped plates, the integral transfer of the assembled manipulator mechanism can be facilitated, and the problem of height limitation needs to be considered in the transfer process, so that when the manipulator mechanism is rotated to the position between the two arc-shaped plates, the integral height of the assembled manipulator mechanism is correspondingly reduced.
3. The manipulator mechanism can work as a common manipulator, and is matched with the upper fixing assembly, the arc-shaped plate, the sliding assembly and the translation mechanism for use, so that the manipulator mechanism has a wider working range compared with the common manipulator.
4. The translation mechanism can be suitable for two truss girder plates with different intervals and different widths, the applicability of the invention is improved, and after the assembly, the roller is contacted with the bottom of the truss girder plate.
Drawings
The invention will be further described with reference to the accompanying drawings.
FIG. 1 is a front view of the overall construction of the present invention;
FIG. 2 is a schematic structural view of the robot mechanism of the present invention;
FIG. 3 is a front sectional view of the translation mechanism of the present invention with a spar beam slab;
FIG. 4 is a front sectional view of the securing assembly of the present invention;
FIG. 5 is a side view of an arcuate plate of the present invention;
figure 6 is a top cross-sectional view of the arcuate plate and slide assembly of the present invention.
In the figure: 1. a support frame; 11. a truss beam panel; 2. an arc-shaped plate; 3. a fixing assembly; 4. a manipulator mechanism; 5. a translation oil cylinder; 6. a translation mechanism; 7. a sliding assembly; 41. fixing the disc; 42. a first connection portion; 43. a second connecting portion; 44. a third connecting portion; 45. a rotating electric machine; 46. a rotating plate; 47. a first clamping plate; 48. a second clamping plate; 49. a clamping cylinder; 21. a toothed plate; 22. a chute; 71. a slider; 72. connecting the shaft lever; 61. a translation base; 62. connecting the cylinder; 63. a power motor; 64. a gear; 65. an inner side plate; 66. a first pushing cylinder; 67. an outer panel; 68. a second pushing cylinder; 69. a roller; 31. a fixed block; 32. fixing the shaft lever; 33. a clamping block; 34. rotating the column; 35. and a limiting screw.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-6, the present invention is a truss type loading and unloading manipulator, including two supporting frames 1 arranged in front and back, universal wheels are installed at the lower ends of the supporting frames 1, two truss beam plates 11 arranged horizontally side by side are fixedly installed between the two supporting frames 1, a translation mechanism 6 is installed on the truss beam plate 11 in a sliding manner, a translation cylinder 5 for driving the translation mechanism 6 to slide is installed at the upper end of one of the supporting frames 1, arc plates 2 are installed at both sides of the translation mechanism 6, two fixing assemblies 3 are connected between the two arc plates 2, the two fixing assemblies 3 are symmetrically distributed about the axis of the arc plates 2, sliding assemblies 7 fixed with the translation mechanism 6 in a clamping manner are symmetrically installed on the inner walls of the two arc plates 2, a manipulator mechanism 4 is fixed on the upper end bolt of one fixing assembly 3, the manipulator mechanism 4 can rotate along with the rotation of the fixing assembly 3, the manipulator mechanism 4 has a larger operation range, in the practical application process, in order to improve the efficiency, the other manipulator mechanism 4 can be fixed on the other fixing component 3 through bolts, and when the manipulator mechanism 4 is used, the fixing component 3 can play a role of providing a mounting platform for the manipulator mechanism 4.
Fixed subassembly 3 contains fixed block 31, and the inside of fixed block 31 is provided with fixed axostylus axostyle 32, and fixed mounting has a plurality of to be the joint piece 33 that annular array arranged on fixed axostylus axostyle 32's the surface, and the inside of fixed block 31 sets up the draw-in groove, specifically does: joint piece 33 and fixed axostylus axostyle 32 formula structure as an organic whole, the inside of fixed block 31 is provided with the draw-in groove of the integral type structure looks adaptation of constituteing with joint piece 33 and fixed axostylus axostyle 32, the both sides of fixed block 31 all are provided with the rotation post 34 that is connected with fixed axostylus axostyle 32, be provided with stop screw 35 on the rotation post 34, all be provided with pinion rack 21 on the inner wall of arc 2 and fixed block 31, and equal symmetry is seted up the spout 22 with 7 looks adaptations of sliding component on the inner wall of arc 2 and fixed block 31, be convenient for sliding and the installation of sliding component 7. The translation mechanism 6 comprises a translation base 61, two connecting cylinders 62 arranged side by side are respectively installed on two sides of the upper surface of the translation base 61, the two connecting cylinders 62 are respectively in one-to-one correspondence with the two sliding assemblies 7 positioned on the same arc-shaped plate 2, an inner side plate 65 and an outer side plate 67 are symmetrically installed on the lower surface of the translation base 61, the two inner side plates 65 are both positioned between the two outer side plates 67, a cavity is arranged inside the translation base 61, the upper ends of the inner side plate 65 and the outer side plate 67 extend into the translation base 61, a first pushing cylinder 66 respectively connected with the two inner side plates 65 is arranged inside the cavity, a second pushing cylinder 68 respectively connected with the two outer side plates 67 is also symmetrically arranged inside the cavity, a plurality of rollers 69 arranged at equal intervals are respectively rotatably installed on the inner side plate 65 and the outer side plate 67, and a power motor 63 is fixedly installed on one side of the translation base 61, the translation cylinder 5 is started to push the translation mechanism 6 to do linear reciprocating motion on the truss girder plate 11, the horizontal position of the translation mechanism 6 is adjusted, the position of the manipulator mechanism 4 is further adjusted, the arranged inner side plate 65, the outer side plate 67, the first pushing cylinder 66 and the second pushing cylinder 68 are matched for use, so that the manipulator mechanism can be suitable for the truss girder plates 11 with different widths and the truss girder plates 11 with two different intervals, it needs to be mentioned that the structures of the inner side plate 65 and the outer side plate 67 are the same, the translation base 61 is provided with a square groove for the inner side plate 65 and the outer side plate 67 to slide, the first pushing cylinder 66 is a double-head cylinder, namely two ends of the first pushing cylinder 66 are output ends, when in use, the first pushing cylinder 66 can adjust the distance between the two inner side plates 65 to be suitable for different intervals between the two truss girder plates 11, and the second pushing cylinder 68 pushes the outer side plate 67 to approach in the direction of the inner side plate 65, making it suitable for use with spar beam panels 11 of different widths.
The cover is equipped with the gear 64 who is connected with the meshing of pinion rack 21 on power motor 63's the output, start power motor 63 and drive gear 64 and rotate, can drive pinion rack 21 and rotate, it rotates together with two fixed subassemblies 3 to drive two arcs 2 promptly, manipulator mechanism 4 rotates thereupon, it is worth mentioning, after two arcs 2 are connected with two fixed subassemblies 3, two arcs 2 enclose into a circular with the inner wall of fixed subassembly 3, and sliding assembly 7 with be connected cylinder 62 clamp fixed back, the central axis of connecting axostylus axostyle 72 passes through the circular centre of a circle that the aforesaid enclosed, make at the rotation in-process, sliding assembly 7 can be smoothly inside the slip 22 that sets up on the inner wall of arc 2 and fixed block 31 slides.
The sliding assembly 7 comprises a sliding block 71, a connecting shaft rod 72 is connected to the sliding block 71, one end of the connecting shaft rod 72, which is far away from the sliding block 71, is fixed to the output end of the connecting cylinder 62 in a clamping manner, the sliding block 71 and the connecting shaft rod 72 are connected in a fixed connection or a threaded connection, preferably in a threaded connection, so that the sliding block is convenient to replace when damaged, and under the condition that the connecting shaft lever 72 is in threaded connection with the sliding block 71, the connecting shaft lever 72 is fixed with the output end hoop of the connecting cylinder 62, the threaded connection mode is safe and reliable, the arc-shaped plate 2 is provided with a rotating groove matched with the rotating column 34, and the arc-shaped plates 2 and the rotating columns 34 are both provided with limit grooves matched with the limit screws 35, the rotating grooves are communicated with the limit grooves, the two rotating columns 34 are respectively inserted into the rotating grooves of the two arc-shaped plates 2, then, the limiting screw 35 is screwed into the limiting groove, so that the arc-shaped plate 2 and the fixing component 3 can be fixed together.
The manipulator mechanism 4 comprises a fixed disc 41, an installation base is rotatably installed at the upper end of the fixed disc 41, a rotating motor for driving the installation base to rotate is arranged in the fixed disc 41, a first connecting part 42 is rotatably installed at the upper end of the installation base, a first motor for driving the first connecting part 42 to rotate is arranged on the installation base, a second connecting part 43 is rotatably installed at the upper end of the first connecting part 42, a second motor for driving the second connecting part 43 to rotate is arranged on the first connecting part 42, a third connecting part 44 is arranged at one side of the second connecting part 43, a rotating motor 45 for driving the third connecting part 44 to rotate is arranged at the other side of the second connecting part 43, a rotating plate 46 is rotatably installed at one end of the third connecting part 44 far away from the second connecting part 43, a third motor for driving the rotating plate 46 to rotate is arranged on the third connecting part 44, and a clamping plate 47 is fixedly connected at one end of the rotating plate 46 far away from the third connecting part 44, the clamping cylinders 49 are symmetrically arranged on the first clamping plate 47, the output end of the clamping cylinder 49 is connected with the second clamping plate 48, the second clamping plate 48 is located on one side of the first clamping plate 47, and when the article is clamped, the clamping cylinders 49 are started to drive the second clamping plate 48 to do linear reciprocating motion until the article is clamped between the second clamping plate 48 and the first clamping plate 47.
In the feeding and discharging manipulator of the truss type in this embodiment, before use, the manipulator mechanism 4 needs to be assembled on the truss, and the assembling steps are as follows:
the method comprises the following steps: firstly, the translation mechanism 6 is installed on the truss girder plates 11, specifically, two inner side plates 65 are arranged between the two truss girder plates 11, the two truss girder plates 11 are positioned between the two outer side plates 67, the first pushing cylinder 66 is started to adjust the distance between the two inner side plates 65 until the two inner side plates 65 are respectively contacted with the two truss girder plates 11, the second pushing cylinder 68 is started to push the outer side plates 67 to be close to the inner side plates 65 until the outer side plates 67 are contacted with the truss girder plates 11, it needs to be noted that at this time, the rollers 69 are contacted with the bottoms of the truss girder plates 11, and the design can reduce the resistance when the translation mechanism 6 translates, so that the translation mechanism 6 can move conveniently;
step two: installing the sliding assembly 7 on the arc-shaped plates 2, then respectively inserting the rotating columns 34 of the two fixing assemblies 3 into the rotating grooves of the two arc-shaped plates 2, screwing the limiting screws 35 into the limiting grooves, fixing the arc-shaped plates 2 and the fixing assemblies 3 together, and finally fixing the connecting shaft rod 72 of the sliding assembly 7 and the connecting cylinder 62 through a clamp;
step three: according to the actual use requirement, one manipulator mechanism 4 is selected to be installed on one of the fixed assemblies 3, or the manipulator mechanisms 4 are installed on both the fixed assemblies 3.
After the assembly is completed, when the manipulator mechanism 4 clamps an article, the clamping cylinder 49 is started to drive the two clamping plates 48 to do linear reciprocating motion until the article is clamped between the two clamping plates 48 and the first clamping plate 47, the translation cylinder 5 is started to push the translation mechanism 6 to do linear reciprocating motion on the truss girder 11, the horizontal position of the translation mechanism 6 is adjusted, the position of the manipulator mechanism 4 is adjusted, the power motor 63 is started to drive the gear 64 to rotate, the toothed plate 21 can be driven to rotate, namely, the two arc plates 2 and the two fixed assemblies 3 are driven to rotate together, the manipulator mechanism 4 rotates along with the rotation, the clamped article can be loaded and unloaded, and the transportation and stacking operations are completed.
After the operation is finished, the manipulator mechanism 4 can be hidden, namely the manipulator mechanism 4 can be rotated to a position between the two arc-shaped plates 2, so that the integral transfer of the assembled manipulator mechanism is facilitated, and the problem of height limitation needs to be considered in the transfer process, so that when the manipulator mechanism 4 is rotated to the position between the two arc-shaped plates 2, the integral height of the assembled manipulator mechanism is correspondingly reduced; the specific operation is as follows: firstly, the limiting screw 35 is screwed out from the limiting groove, the rotating column 34 can be rotated in the rotating groove, after the rotating column 34 is rotated by 180 degrees, the arc-shaped plate 2 is aligned with the two limiting grooves on the rotating column 34 again, at the moment, the manipulator mechanism 4 rotates to the position between the two arc-shaped plates 2 after being rotated by 180 degrees, then the limiting screw 35 is screwed into the limiting groove again, and the hiding is finished.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation and a specific orientation configuration and operation, and thus, should not be construed as limiting the present invention. Furthermore, "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate member, or they may be connected through two or more elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
Claims (1)
1. A truss type feeding and discharging manipulator comprises two support frames (1) and is characterized in that two truss girder plates (11) which are horizontally arranged side by side are fixedly arranged between the two support frames (1), a translation mechanism (6) is slidably arranged on each truss girder plate (11), the upper end of one of the supporting frames (1) is provided with a translation oil cylinder (5) for driving the translation mechanism (6) to slide, the two sides of the translation mechanism (6) are respectively provided with an arc-shaped plate (2), two fixing components (3) are connected between the two arc-shaped plates (2), the two fixing components (3) are symmetrically distributed about the axis of the arc-shaped plates (2), the inner walls of the two arc-shaped plates (2) are respectively and symmetrically provided with a sliding component (7) fixed with a clamp of the translation mechanism (6), a manipulator mechanism (4) is fixed on the upper end of one fixing component (3) through a bolt;
a fixed shaft lever (32) is arranged inside a fixed block (31) of the fixed assembly (3), a plurality of clamping blocks (33) which are distributed in an annular array are fixedly installed on the outer surface of the fixed shaft lever (32), clamping grooves are formed inside the fixed block (31), rotating columns (34) connected with the fixed shaft lever (32) are arranged on two sides of the fixed block (31), and limiting screws (35) are arranged on the rotating columns (34);
toothed plates (21) are arranged on the inner walls of the arc-shaped plate (2) and the fixed block (31), and sliding grooves (22) matched with the sliding assemblies (7) are symmetrically formed in the inner walls of the arc-shaped plate (2) and the fixed block (31);
two connecting cylinders (62) which are arranged side by side are respectively arranged on two sides of the upper surface of a translation base (61) of the translation mechanism (6), the lower surface of the translation base (61) is symmetrically provided with an inner side plate (65) and an outer side plate (67), the two inner side plates (65) are both positioned between the two outer side plates (67), a cavity is arranged inside the translation base (61), the upper ends of the inner side plate (65) and the outer side plate (67) extend to the inside of the translation base (61), a first pushing cylinder (66) respectively connected with the two inner side plates (65) is arranged in the cavity, a second pushing cylinder (68) respectively connected with the two outer side plates (67) is symmetrically arranged in the cavity, a plurality of rollers (69) which are arranged at equal intervals are rotatably arranged on the inner side plate (65) and the outer side plate (67), a power motor (63) is fixedly arranged on one side of the translation base (61);
a gear (64) in meshed connection with the toothed plate (21) is sleeved on the output end of the power motor (63);
a connecting shaft rod (72) is connected to a sliding block (71) of the sliding assembly (7), and one end, far away from the sliding block (71), of the connecting shaft rod (72) is fixed with an output end clamp of the connecting cylinder (62);
the arc-shaped plate (2) is provided with a rotating groove matched with the rotating column (34), and the arc-shaped plate (2) and the rotating column (34) are both provided with a limiting groove matched with the limiting screw (35);
the manipulator mechanism is characterized in that an installation base is rotatably installed at the upper end of a fixed disc (41) of the manipulator mechanism (4), a rotary motor for driving the installation base to rotate is arranged in the fixed disc (41), a first connecting part (42) is rotatably installed at the upper end of the installation base, a first motor for driving the first connecting part (42) to rotate is arranged on the installation base, a second connecting part (43) is rotatably installed at the upper end of the first connecting part (42), a second motor for driving the second connecting part (43) to rotate is arranged on the first connecting part (42), a third connecting part (44) is arranged on one side of the second connecting part (43), a rotary motor (45) for driving the third connecting part (44) to rotate is arranged on the other side of the second connecting part (43), and a rotary plate (46) is rotatably installed at one end, far away from the second connecting part (43), of the third connecting part (44), a third motor for driving the rotating plate (46) to rotate is arranged on the third connecting portion (44), a first clamping plate (47) is fixedly connected to one end, far away from the third connecting portion (44), of the rotating plate (46), clamping cylinders (49) are symmetrically installed on the first clamping plate (47), and the output end of each clamping cylinder (49) is connected with a second clamping plate (48);
after the operation is finished, the mechanical hand mechanism (4) is hidden, namely the mechanical hand mechanism (4) is rotated to a position between the two arc-shaped plates (2), and the specific operation is as follows: firstly, the limiting screw (35) is screwed out from the limiting groove, the rotating column (34) is rotated in the rotating groove, the rotating column (34) is rotated for 180 degrees, the arc-shaped plates (2) are realigned with the two limiting grooves on the rotating column (34), at the moment, the manipulator mechanism (4) rotates to the position between the two arc-shaped plates (2) after being rotated for 180 degrees, and then the limiting screw (35) is screwed into the limiting groove again, so that the hiding is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111006529.0A CN113618727B (en) | 2021-08-30 | 2021-08-30 | Feeding mechanical arm in truss-like |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111006529.0A CN113618727B (en) | 2021-08-30 | 2021-08-30 | Feeding mechanical arm in truss-like |
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| Publication Number | Publication Date |
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| CN113618727A CN113618727A (en) | 2021-11-09 |
| CN113618727B true CN113618727B (en) | 2022-04-19 |
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| CN110762324B (en) * | 2019-11-14 | 2021-06-25 | 江苏华淼电子科技有限公司 | Drainage pipe fixed mounting structure |
| CN213105234U (en) * | 2020-07-30 | 2021-05-04 | 袁建良 | Multi-surface welding robot |
| CN213393114U (en) * | 2020-10-19 | 2021-06-08 | 深圳市智铖科技有限公司 | Connecting shaft of rotating member combination device |
| CN112499148B (en) * | 2021-02-07 | 2021-04-27 | 上海建工四建集团有限公司 | Material horizontal transportation device |
| CN113084420A (en) * | 2021-05-06 | 2021-07-09 | 吉安智企企业服务有限公司 | Multi-degree-of-freedom adjustable welding robot |
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2021
- 2021-08-30 CN CN202111006529.0A patent/CN113618727B/en active Active
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