CN116749193A - Mechanical arm grabbing and placing control equipment - Google Patents
Mechanical arm grabbing and placing control equipment Download PDFInfo
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- CN116749193A CN116749193A CN202310868483.6A CN202310868483A CN116749193A CN 116749193 A CN116749193 A CN 116749193A CN 202310868483 A CN202310868483 A CN 202310868483A CN 116749193 A CN116749193 A CN 116749193A
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- 230000000712 assembly Effects 0.000 claims description 3
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- 238000001514 detection method Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
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- 206010033799 Paralysis Diseases 0.000 description 1
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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Abstract
The application relates to a mechanical arm grabbing and releasing control device which is used for grabbing and transferring objects positioned on a conveying belt, wherein the conveying belt is arranged on a base, two vertical plates are fixedly arranged on the base, the mechanical arm grabbing and releasing control device further comprises a transverse moving plate which is movably arranged between the two vertical plates and is connected with a transverse moving driving mechanism arranged between the two vertical plates, the transverse moving driving mechanism is connected with a Malta cross movement mechanism arranged on the side part of one vertical plate, a lifting plate is movably arranged below the transverse moving plate, a grabbing mechanism is arranged at the bottom of the lifting plate and is connected with a lifting driving mechanism arranged on the transverse moving plate, and the lifting driving mechanism is connected with the Malta cross movement mechanism.
Description
Technical Field
The application relates to the technical field related to product sorting equipment, in particular to mechanical arm grabbing and releasing control equipment.
Background
The most common in our production and life is an industrial robot, which is an industrial field-oriented multi-joint manipulator or multi-degree-of-freedom machine device, can automatically execute work, and is a machine which realizes various functions by self power and control capability. Modern industrial robots can also follow principles laid down by artificial intelligence techniques.
At present, various industrial robots are increasingly widely applied, but the logic sequence is realized by a large number of sensing components in the prior art, if any sensing component module fails, the whole system is certainly paralyzed, and the sensing components have higher requirements on working temperature, environmental humidity, particle dust density and the like; the environment of the production site of the product is relatively unfriendly, including dust, temperature and the like; although the failure rate and the service life of a part of the high-precision durable induction element are optimized, the cost of the equipment is increased.
Disclosure of Invention
The application aims to provide a mechanical arm grabbing and placing control device which is used for solving the problems in the background technology.
In order to achieve the above purpose, the present application provides the following technical solutions:
the utility model provides a control equipment is put to arm grasp for snatch the transfer to the article that is located on the conveyer belt, the conveyer belt is installed on the base, just fixed mounting has two risers of relative setting on the base, control equipment is put to arm grasp includes:
the transverse moving plate is movably arranged between the two vertical plates and is connected with a transverse moving driving mechanism arranged between the two vertical plates, and the transverse moving driving mechanism is connected with a Malta cross movement mechanism arranged on the side part of one of the vertical plates;
the lifting plate is movably arranged below the transverse moving plate, a grabbing mechanism is arranged at the bottom of the lifting plate and connected with a lifting driving mechanism arranged on the transverse moving plate, the lifting driving mechanism is connected with a Malta cross movement mechanism, the Malta cross movement mechanism is used for driving the lifting driving mechanism to move with the transverse moving driving mechanism in sequence, when the lifting driving mechanism moves, the lifting plate is driven to lift, so that the grabbing mechanism reaches a grabbing position for grabbing an article, and when the transverse moving driving mechanism moves, the transverse moving plate and the lifting plate are driven to move along the length direction perpendicular to the conveying belt, so that the grabbing mechanism reaches a releasing position for releasing the article.
As a further scheme of the application: the clamping mechanism comprises a bidirectional screw rod rotatably arranged at the bottom of the lifting plate, a guide rod fixed at the bottom of the lifting plate and two thread plates symmetrically and slidably arranged on the guide rod;
the two-way screw rod penetrates through the two threaded plates, the two threaded plates are in threaded connection with the two-way screw rod, a second driving motor is further installed on one side of the lifting plate, the output end of the second driving motor is connected with one end of the two-way screw rod, and the two threaded plates are respectively connected with a group of flexible clamping assemblies.
As still further aspects of the application: the flexible clamping assembly comprises two cross bars fixedly arranged on the side parts of the threaded plates, clamping pieces slidably arranged on the two cross bars, and two cylindrical springs respectively sleeved on the peripheries of the two cross bars, wherein two ends of each cylindrical spring are respectively connected with the threaded plates and the clamping pieces;
the lifting device is characterized in that a strip-shaped protruding portion is fixedly arranged on the clamping piece, a rotating rod is further rotatably arranged at the bottom of the lifting plate, two ends of the rotating rod are respectively provided with a pulley in a rotating mode, the rotating rod is connected with a rotating shaft of a gear on the lifting plate in a rotating mode through a third transmission belt, and toothed plates matched with the gear are further fixed on the vertical plate.
As still further aspects of the application: the maltese cross movement mechanism comprises a driving wheel, a first driven wheel, a second driven wheel and a first driving motor, wherein the driving wheel, the first driven wheel and the second driven wheel are rotatably arranged on one side of the vertical plate, and the first driving motor is arranged on the other side of the vertical plate;
the output end of the first driving motor is connected with the rotating shaft of the driving wheel, the rotating shaft of the first driven wheel is connected with the lifting driving mechanism, and the rotating shaft of the second driven wheel is connected with the transverse moving driving mechanism.
As still further aspects of the application: the lifting driving mechanism comprises a power assembly arranged on the transverse moving plate and a transmission structure for connecting the power assembly with the first driven wheel rotating shaft, wherein the power assembly comprises a guide plate fixed at the bottom of the transverse moving plate and hollow in the interior, a telescopic plate which is in sliding fit with the guide plate and fixed with the lifting plate, and a cam rotatably arranged at the bottom of the transverse moving plate;
the telescopic plate faces one side of the cam and is fixed with a driven plate through a connecting column, the driven plate is provided with a sliding groove, the cam is fixed with a first column body, the first column body stretches into the sliding groove and is in sliding connection with the driven plate, and the guide plate faces one side of the cam and is provided with a strip-shaped through groove for the connecting column to move.
As still further aspects of the application: the transmission structure comprises a transmission pipe rotatably arranged on the transverse moving plate and a transverse shaft rotatably arranged between the two vertical plates, the transmission pipe is in sliding sleeve joint with the transverse shaft, a plurality of strip-shaped grooves are formed in the inner wall of the transmission pipe at equal intervals along the circumference, and a plurality of strip-shaped protrusions matched with the strip-shaped grooves are fixedly arranged on the periphery of the transverse shaft along the circumference;
the transverse shaft is connected with the rotating shaft of the first driven wheel through a first driving belt, and the rotating shaft of the cam is connected with the driving pipe through a fourth driving belt and a first bevel gear set.
As still further aspects of the application: the transverse moving plate is arranged on the transverse moving plate in a sliding mode, two long bars are fixedly arranged on the upper portion of the transverse moving plate, gaps are reserved between the two long bars, and the transverse moving plate is connected with the transverse moving driving mechanism.
As still further aspects of the application: the transverse moving driving mechanism comprises two driving wheels and a connecting piece, the two driving wheels are respectively rotatably arranged on the two vertical plates, the connecting piece is connected with the two driving wheels in rolling fit, and the rotating shaft of one driving wheel is connected with the rotating shaft of the second driven wheel through a second bevel gear group and a second transmission belt;
the connecting piece is provided with a second post, and the second post stretches into the gap and is in sliding connection with the two strip rods.
Compared with the prior art, the application has the beneficial effects that: the application has novel design, the maltese cross movement mechanism works, the lifting driving mechanism is firstly driven to move, the lifting driving mechanism drives the lifting plate to lift, the lifting plate descends to the lowest point to reach the grabbing position, the clamping mechanism clamps the object, then the lifting plate ascends and resets to enable the object to be separated from the conveying belt, then the traversing driving mechanism moves, the traversing plate is driven to move along the length direction vertical to the conveying belt, the grabbing mechanism reaches the releasing position to release the object, and finally, the traversing plate moves reversely to reset to finish grabbing and transferring operations of one round of object.
Drawings
Fig. 1 is a schematic structural view of an embodiment of a robotic arm pick-and-place control device.
Fig. 2 is a schematic structural view of an embodiment of a robotic arm pick-and-place control device at another angle.
Fig. 3 is a schematic structural view of an embodiment of the arm pick-and-place control device at another angle.
Fig. 4 is an enlarged view of the structure at a in fig. 1.
Fig. 5 is an enlarged view of the structure at B in fig. 1.
Fig. 6 is an enlarged view of the structure at C in fig. 3.
Fig. 7 is a schematic structural diagram of a lifting driving mechanism in an embodiment of the mechanical arm pick-and-place control device.
Fig. 8 is a schematic structural view of a traversing driving mechanism in an embodiment of the robot arm pick-and-place control apparatus.
Fig. 9 is a schematic structural view of a clamping mechanism in an embodiment of the arm pick-and-place control apparatus.
In the figure: 1. a base; 2. a riser; 3. a transmission belt; 4. a cross plate; 5. a transverse moving plate; 6. a lifting plate; 7. a first driving motor; 8. a driving wheel; 9. a first driven wheel; 10. a second driven wheel; 11. a first belt; 12. a second belt; 13. a second driving motor; 14. a two-way screw rod; 15. a guide rod; 16. a thread plate; 17. a cross bar; 18. a clamping member; 19. a cylindrical spring; 20. a rotating lever; 21. a pulley; 22. a gear; 23. rack plate; 24. a third belt; 25. a guide plate; 26. a telescoping plate; 27. a cam; 28. a first column; 29. a driven plate; 30. a strip-shaped through groove; 31. a transmission tube; 32. a horizontal axis; 33. a first bevel gear set; 34. a fourth belt; 35. a driving wheel; 36. a connecting piece; 37. a second column; 38. a bar; 39. a transmission shaft; 40. a second bevel gear set.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In addition, an element in the present disclosure may be referred to as being "fixed" or "disposed" on another element or being directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
Referring to fig. 1-9, in an embodiment of the present application, a mechanical arm grabbing and placing control device is configured to grab and transfer an article on a conveying belt 3, where the conveying belt 3 is installed on a base 1, and two opposite vertical plates 2 are fixedly installed on the base 1, and the mechanical arm grabbing and placing control device includes:
the transverse moving plate 5 is movably arranged between the two vertical plates 2 and is connected with a transverse moving driving mechanism arranged between the two vertical plates 2, and the transverse moving driving mechanism is connected with a Malta cross movement mechanism arranged on the side part of one of the vertical plates 2;
the lifting plate 6 is movably arranged below the transverse moving plate 5, a grabbing mechanism is arranged at the bottom of the lifting plate, the lifting plate is connected with a lifting driving mechanism arranged on the transverse moving plate 5, the lifting driving mechanism is connected with the maltese cross movement mechanism, the maltese cross movement mechanism is used for driving the lifting driving mechanism to move with the transverse moving driving mechanism in sequence, when the lifting driving mechanism moves, the lifting plate 6 is driven to lift, so that the grabbing mechanism reaches a grabbing position for grabbing an article, and when the transverse moving driving mechanism moves, the transverse moving plate 5 and the lifting plate 6 are driven to move along the length direction perpendicular to the conveying belt 3, so that the grabbing mechanism reaches a releasing position for releasing the article.
It should be noted that, the conveyor belt 3 is an application of the prior art, and the specific structure of the conveyor belt is not described in detail, in actual production, the device works in cooperation with a detection device, and the detection device is used for detecting the articles on the conveyor belt 3, when detecting the defective articles, the device works as follows:
the maltese cross movement mechanism works, firstly, the lifting driving mechanism is driven to move, the lifting driving mechanism drives the lifting plate 6 to lift, the lifting plate 6 descends to the lowest point to reach the grabbing position, the clamping mechanism clamps the article, then, the lifting plate 6 ascends and resets, the article is separated from the conveying belt 3, then, the traversing driving mechanism moves, the traversing plate 5 is driven to move along the length direction perpendicular to the conveying belt 3, further, the grabbing mechanism reaches the releasing position to release the article, and finally, the traversing plate 5 moves reversely and resets to finish grabbing and transferring operations of a round of articles.
Referring to fig. 6 and 9 again, the clamping mechanism includes a bidirectional screw 14 rotatably mounted at the bottom of the lifting plate 6, a guide rod 15 fixed at the bottom of the lifting plate 6, and two threaded plates 16 symmetrically slidably disposed on the guide rod 15;
the bidirectional screw rod 14 penetrates through the two threaded plates 16, the two threaded plates 16 are in threaded connection with the bidirectional screw rod 14, a second driving motor 13 is further installed on one side of the lifting plate 6, the output end of the second driving motor 13 is connected with one end of the bidirectional screw rod 14, and the two threaded plates 16 are respectively connected with a group of flexible clamping assemblies.
Specifically, two sections of threads are symmetrically arranged on the bidirectional screw rod 14, the rotation directions of the two sections of threads are opposite, two through holes for the guide rod 15 and the bidirectional screw rod 14 to pass through are formed in the threaded plate 16, and threads engaged with the bidirectional screw rod 14 are formed in the inner wall of the through hole penetrated by the bidirectional screw rod 14.
The flexible clamping assembly comprises two cross bars 17 fixedly arranged on the side parts of the threaded plate 16, clamping pieces 18 slidably arranged on the two cross bars 17 and two cylindrical springs 19 respectively sleeved on the peripheries of the two cross bars 17, and two ends of each cylindrical spring 19 are respectively connected with the threaded plate 16 and the clamping pieces 18;
the clamping piece 18 is fixedly provided with a strip-shaped protruding portion, the bottom of the lifting plate 6 is further rotatably provided with a rotating rod 20, two ends of the rotating rod 20 are respectively rotatably provided with a pulley 21, the rotating rod 20 is connected with a rotating shaft of a gear 22 rotatably arranged on the lifting plate 6 through a third transmission belt 24, and the vertical plate 2 is further fixedly provided with a rack plate 23 matched with the gear 22.
When the lifting driving mechanism drives the lifting plate 6 to descend to the lowest point (i.e. to reach the grabbing position), the second driving motor 13 drives the bidirectional screw rod 14 to rotate forward, and the guide rod 15 guides the two threaded plates 16, so that the two threaded plates 16 are in threaded fit with the bidirectional screw rod 14 at the same time to move close to each other until the clamping piece 18 contacts with an article and contacts with the clamping piece 18 to slide on the two cross rods 17, and the cylindrical spring 19 is compressed, so that a flexible clamping function of the article is realized, damage to the article due to hard control of the rigid clamping force can be effectively prevented, and the driving precision of the bidirectional screw rod 14 is high, so that the clamping force is convenient to control;
after the lifting plate 6 ascends, the article is separated from the conveyor belt 3, then, the traversing driving mechanism drives the traversing plate 5 to move along the length direction vertical to the conveyor belt 3, so that the article reaches a release position, in the next stroke of the movement of the traversing plate 5, the gear 22 is meshed with teeth on the rack plate 23, then, the gear 22 rotates, the rotating shaft of the gear 22 drives the rotating rod 20 to rotate through the third driving belt 24, the pulley 21 pushes the clamping piece 18 to slide on the cross rod 17 further towards the threaded plate 16 through the strip-shaped protruding part, the clamping piece 18 is separated from the article, the article can be dropped and released, and after the article is released, the traversing plate 5 reversely traverses and resets, the second driving motor 13 drives the bidirectional screw rod 14 to reversely rotate, so that the two threaded plates 16 mutually move away from each other and reset.
It should be noted that when the article is released, the second driving motor 13 may drive the bidirectional screw rod 14 to rotate reversely, so that the two screw plates 16 are directly away from the reset, but in this releasing mode, the compression amount of the cylindrical spring 19 is gradually reduced, that is, the pressure of the clamping member 18 on the article is gradually reduced, when the gradual friction force between the clamping members 18 and the article is smaller than the gravity of the article, the article will slowly fall between the two clamping members 18, so that obvious friction is generated between the article and the clamping members 18, and for precise articles, the problem of scratching is easy to occur.
Referring to fig. 4 again, the maltese cross movement mechanism includes a driving wheel 8 rotatably mounted on one side of the riser 2, a first driven wheel 9, a second driven wheel 10, and a first driving motor 7 mounted on the other side of the riser 2. The output end of the first driving motor 7 is connected with the rotating shaft of the driving wheel 8, the rotating shaft of the first driven wheel 9 is connected with the lifting driving mechanism, and the rotating shaft of the second driven wheel 10 is connected with the transverse moving driving mechanism.
Referring to fig. 5 and 7 again, the lifting driving mechanism includes a power assembly mounted on the traversing plate 5 and a transmission structure connecting the power assembly and the rotation shaft of the first driven wheel 9, where the power assembly includes a guiding plate 25 fixed at the bottom of the traversing plate 5 and hollow in the interior, a telescopic plate 26 slidably sleeved with the guiding plate 25 and fixed with the lifting plate 6, and a cam 27 rotatably mounted at the bottom of the traversing plate 5;
the telescopic plate 26 is fixed with a driven plate 29 through a connecting column on one side of the cam 27, a sliding groove is formed in the driven plate 29, a first column 28 is fixed on the cam 27, the first column 28 stretches into the sliding groove and is in sliding connection with the driven plate 29, and a strip-shaped through groove 30 for the connecting column to move is formed in one side of the guide plate 25, which faces the cam 27.
The transmission structure comprises a transmission pipe 31 rotatably mounted on the transverse moving plate 5 and a transverse shaft 32 rotatably mounted between the two vertical plates 2, the transmission pipe 31 and the transverse shaft 32 are in sliding sleeve fit, a plurality of strip-shaped grooves are formed in the inner wall of the transmission pipe 31 at equal intervals along the circumference, and a plurality of strip-shaped protrusions matched with the strip-shaped grooves are fixedly arranged on the periphery of the transverse shaft 32 along the circumference;
wherein the transverse shaft 32 is connected with the rotating shaft of the first driven wheel 9 through a first driving belt 11, and the rotating shaft of the cam 27 is connected with the driving tube 31 through a fourth driving belt 34 and a first bevel gear set 33.
When the first driven wheel 9 rotates, the rotation shaft drives the transverse shaft 32 to rotate through the first driving belt 11, and then the transverse shaft 32 drives the driving pipe 31 to rotate through the strip-shaped protrusions and the strip-shaped grooves, and the driving pipe 31 drives the cam 27 to rotate for one circle through the first bevel gear set 33 and the fourth driving belt 34, accordingly, the first cylinder 28 performs a circular motion in the rotation process of the first driven wheel 9 and is in threaded fit with the driven plate 29 through the sliding groove, and the driven plate 29 drives the expansion plate 26 and the lifting plate 6 to perform a lifting action, so that the transfer effect of the article in the vertical direction is achieved after the article is clamped;
it should be noted that after the cam 27 has rotated 180 °, i.e. after the lifter plate 6 has been lowered to the low point, the first drive motor 7 will be deactivated for a certain time in order to provide time for the gripping of the article by the gripping member 18.
Further, the first bevel gear set 33 includes a first bevel gear fixedly installed on the transmission tube 31 and a second bevel gear rotatably installed on the traverse plate 5, the second bevel gear is engaged with the first bevel gear, and the fourth transmission belt 34 is used for connecting the rotation shafts of the cam 27 and the second bevel gear.
Referring to fig. 7 and 8 again, a transverse plate 4 is fixedly connected between the two vertical plates 2, the transverse plate 5 is slidably disposed on the transverse plate 4, two elongated rods 38 are fixedly disposed on the upper portion of the transverse plate 5, and a gap is reserved between the two elongated rods 38 and connected with the transverse driving mechanism.
The transverse moving driving mechanism comprises two driving wheels 35 which are respectively rotatably arranged on the two vertical plates 2 and a connecting piece 36 which is connected with the two driving wheels 35, the connecting piece 36 is in rolling fit with the two driving wheels 35, and the rotating shaft of one driving wheel 35 is connected with the rotating shaft of the second driven wheel 10 through a second bevel gear set 40 and a second transmission belt 12;
wherein, the connecting piece 36 is provided with a second post 37, and the second post 37 extends into the gap and is slidably connected with two long bars 38.
In terms of expansion, the riser 2 is further rotatably provided with a transmission shaft 39, the second transmission belt 12 is used for connecting the transmission shaft 39 with the rotation shaft of the second driven wheel 10, the second bevel gear set 40 includes a No. three bevel gear fixedly installed at one end of the transmission shaft 39 away from the riser 2 and a No. four bevel gear fixedly installed coaxially with the driving wheel 35, and the No. four bevel gears are meshed with the No. three bevel gears.
When the second driven wheel 10 rotates, the rotation shaft drives the transmission shaft 39 to rotate through the second transmission belt 12, the transmission shaft 39 drives the driving wheel 35 to rotate through the second bevel gear set 40, then the connecting piece 36 drives the second post 37 to move, and the second post 37 drives the traversing plate 5 to slide back and forth on one side of the traverse plate 4 through the two long bars 38, so that the function of transferring the grabbed articles along the length direction perpendicular to the transmission belt 3 is realized.
It will be evident to those skilled in the art that the application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (8)
1. The utility model provides a control equipment is put to arm grasp for snatch article that is located on conveyer belt (3) is transferred, conveyer belt (3) are installed on base (1), just fixed mounting has riser (2) of two relative settings on base (1), control equipment is put to arm grasp includes:
the transverse moving plate (5) is movably arranged between the two vertical plates (2) and is connected with a transverse moving driving mechanism arranged between the two vertical plates (2), and the transverse moving driving mechanism is connected with a Malta cross movement mechanism arranged at the side part of one vertical plate (2);
the lifting plate (6) is movably arranged below the transverse moving plate (5), a grabbing mechanism is arranged at the bottom of the lifting plate, the lifting plate is connected with a lifting driving mechanism arranged on the transverse moving plate (5), the lifting driving mechanism is connected with a Malta cross movement mechanism, the Malta cross movement mechanism is used for driving the lifting driving mechanism to move with the transverse moving driving mechanism in sequence, when the lifting driving mechanism moves, the lifting plate (6) is driven to lift, so that the grabbing mechanism reaches a grabbing position for grabbing an article, and when the transverse moving driving mechanism moves, the transverse moving plate (5) and the lifting plate (6) are driven to move along the length direction perpendicular to the conveying belt (3), so that the grabbing mechanism reaches a releasing position for releasing the article.
2. The mechanical arm grabbing and placing control device according to claim 1, wherein the clamping mechanism comprises a bidirectional screw rod (14) rotatably installed at the bottom of the lifting plate (6), a guide rod (15) fixed at the bottom of the lifting plate (6) and two threaded plates (16) symmetrically and slidably arranged on the guide rod (15);
the two-way screw rod (14) penetrates through the two threaded plates (16), the two threaded plates (16) are in threaded connection with the two-way screw rod (14), a second driving motor (13) is further installed on one side of the lifting plate (6), the output end of the second driving motor (13) is connected with one end of the two-way screw rod (14), and the two threaded plates (16) are respectively connected with a group of flexible clamping assemblies.
3. The mechanical arm grabbing and placing control device according to claim 2, wherein the flexible clamping assembly comprises two cross bars (17) fixedly installed on the side parts of the threaded plate (16), clamping pieces (18) slidably arranged on the two cross bars (17) and two cylindrical springs (19) respectively sleeved on the peripheries of the two cross bars (17), and two ends of each cylindrical spring (19) are respectively connected with the threaded plate (16) and the clamping pieces (18);
the lifting device is characterized in that a strip-shaped protruding portion is fixedly arranged on the clamping piece (18), a rotating rod (20) is further rotatably arranged at the bottom of the lifting plate (6), two pulleys (21) are rotatably arranged at two ends of the rotating rod (20), the rotating rod (20) is connected with a rotating shaft of a gear (22) rotatably arranged on the lifting plate (6) through a third driving belt (24), and a rack plate (23) matched with the gear (22) is further fixedly arranged on the vertical plate (2).
4. The mechanical arm grabbing and placing control device according to claim 1, wherein the maltese cross movement mechanism comprises a driving wheel (8) rotatably mounted on one side of the vertical plate (2), a first driven wheel (9), a second driven wheel (10) and a first driving motor (7) mounted on the other side of the vertical plate (2);
the output end of the first driving motor (7) is connected with the rotating shaft of the driving wheel (8), the rotating shaft of the first driven wheel (9) is connected with the lifting driving mechanism, and the rotating shaft of the second driven wheel (10) is connected with the transverse moving driving mechanism.
5. The mechanical arm grabbing and placing control device according to claim 4, wherein the lifting driving mechanism comprises a power assembly arranged on the transverse moving plate (5) and a transmission structure for connecting the power assembly with the rotating shaft of the first driven wheel (9), and the power assembly comprises a guide plate (25) fixed at the bottom of the transverse moving plate (5) and hollow in the interior, a telescopic plate (26) slidably sleeved with the guide plate (25) and fixed with the lifting plate (6) and a cam (27) rotatably arranged at the bottom of the transverse moving plate (5);
wherein, expansion plate (26) orientation one side of cam (27) is fixed with driven plate (29) through the spliced pole, be equipped with the spout on driven plate (29), be fixed with first cylinder (28) on cam (27), first cylinder (28) stretch into in the spout and with driven plate (29) sliding connection, just deflector (25) orientation one side of cam (27) has been seted up and is used for supplying bar logical groove (30) of spliced pole activity.
6. The mechanical arm grabbing and placing control device according to claim 5, wherein the transmission structure comprises a transmission pipe (31) rotatably mounted on the transverse moving plate (5) and a transverse shaft (32) rotatably mounted between the two vertical plates (2), the transmission pipe (31) is slidably sleeved with the transverse shaft (32), a plurality of strip-shaped grooves are formed in the inner wall of the transmission pipe (31) at equal intervals along the circumference, and a plurality of strip-shaped protrusions matched with the strip-shaped grooves are fixedly formed in the outer circumference of the transverse shaft (32) along the circumference;
the transverse shaft (32) is connected with the rotating shaft of the first driven wheel (9) through a first driving belt (11), and the rotating shaft of the cam (27) is connected with the driving pipe (31) through a fourth driving belt (34) and a first bevel gear set (33).
7. The mechanical arm grabbing and placing control device according to claim 4, wherein a transverse plate (4) is fixedly connected between the two vertical plates (2), the transverse plate (5) is slidably arranged on the transverse plate (4), two long bars (38) are fixedly arranged on the upper portion of the transverse plate (5), a gap is reserved between the two long bars (38), and the transverse plate is connected with the transverse driving mechanism.
8. A robotic arm pick-and-place control device according to claim 7, characterized in that the traversing drive mechanism comprises two drive wheels (35) rotatably mounted on the two risers (2), respectively, and a connecting member (36) connecting the two drive wheels (35), the connecting member (36) being in rolling engagement with the two drive wheels (35), and in that the rotational axis of one of the drive wheels (35) is connected to the rotational axis of the second driven wheel (10) via a second bevel gear set (40) and a second drive belt (12);
the connecting piece (36) is provided with a second post (37), and the second post (37) stretches into the gap and is in sliding connection with the two long bars (38).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310868483.6A CN116749193A (en) | 2023-07-14 | 2023-07-14 | Mechanical arm grabbing and placing control equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310868483.6A CN116749193A (en) | 2023-07-14 | 2023-07-14 | Mechanical arm grabbing and placing control equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116749193A true CN116749193A (en) | 2023-09-15 |
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ID=87961025
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310868483.6A Withdrawn CN116749193A (en) | 2023-07-14 | 2023-07-14 | Mechanical arm grabbing and placing control equipment |
Country Status (1)
| Country | Link |
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| CN (1) | CN116749193A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117136812A (en) * | 2023-09-20 | 2023-12-01 | 邹城市自然资源和规划局 | Sapling storage device for forestry engineering |
| CN117303008A (en) * | 2023-11-29 | 2023-12-29 | 石家庄永峰墙体材料有限公司 | Autoclaved aerated concrete block finished product stacking manipulator and stacking method thereof |
-
2023
- 2023-07-14 CN CN202310868483.6A patent/CN116749193A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117136812A (en) * | 2023-09-20 | 2023-12-01 | 邹城市自然资源和规划局 | Sapling storage device for forestry engineering |
| CN117303008A (en) * | 2023-11-29 | 2023-12-29 | 石家庄永峰墙体材料有限公司 | Autoclaved aerated concrete block finished product stacking manipulator and stacking method thereof |
| CN117303008B (en) * | 2023-11-29 | 2024-01-26 | 石家庄永峰墙体材料有限公司 | Autoclaved aerated concrete block finished product stacking manipulator and stacking method thereof |
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Application publication date: 20230915 |