CN207027513U - Manufacture label automatic loading and unloading manipulator structure - Google Patents
Manufacture label automatic loading and unloading manipulator structure Download PDFInfo
- Publication number
- CN207027513U CN207027513U CN201720947040.6U CN201720947040U CN207027513U CN 207027513 U CN207027513 U CN 207027513U CN 201720947040 U CN201720947040 U CN 201720947040U CN 207027513 U CN207027513 U CN 207027513U
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- CN
- China
- Prior art keywords
- motor
- forearm
- large arm
- support
- output shaft
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- 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.)
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Abstract
Loading and unloading equipment is the utility model is related to, especially a kind of manufacture label automatic loading and unloading manipulator structure.One kind manufacture label automatic loading and unloading manipulator structure, including support, the first motor is fixed with the support, first harmonic decelerator is connected on first motor output shaft, connection organic block lid above support, the support portion of covering connects one end of large arm, large arm one end is provided with the second motor with support upper part of the cover junction, second harmonic decelerator is connected on the output shaft of second motor, one end of the other end connection forearm of large arm, forearm one end and the junction of large arm are provided with the 3rd motor, third harmonic decelerator is connected on the output shaft of 3rd motor, the other end connection manipulator of forearm, the junction of manipulator and the forearm other end is provided with the 4th motor.Robot manipulator structure of the present utility model can carry out loading and unloading, and safe operation, conveniently to product with comprehensive, mitigate labor strength, save production cost, improve the production efficiency of product.
Description
Technical field
Loading and unloading equipment is the utility model is related to, especially a kind of manufacture label automatic loading and unloading manipulator structure.
Background technology
Manipulator can imitate some holding functions of human hand and arm, object or operation are captured, carried by fixed routine
The automatic pilot of instrument, manipulator are the industrial robots occurred earliest, and the modern machines people occurred earliest, and it can
Instead of the heavy labor of people to realize the mechanization of production and automation, can be operated under hostile environment to protect personal safety,
Thus it is widely used in machine-building, metallurgy, electronics, light industry and atomic energy department.
At present, although certain progress that the loading and unloading manipulator of most domestic technically obtains, in actual fortune
The technical problem not yet overcome is remained in, comprehensive loading and unloading manipulator, not only device fabrication is cumbersome, price
Costliness, and production efficiency is relatively low, and operation inconvenience.
Utility model content
The technical problems to be solved in the utility model is：Overcome deficiency in the prior art, there is provided a kind of cheap, behaviour
Make simple, production efficiency height, the excellent manufacture label automatic loading and unloading manipulator structure of security performance.
Technical scheme is used by the utility model solves its technical problem：One kind manufacture label automatic charging ＆ discharging machine
Tool hand structure, including support, the first motor is fixed with the support, and connecting first harmonic on the first motor output shaft slows down
Device, support top connection organic block lid, the support portion of covering connects one end of large arm, large arm one end and support upper part of the cover junction
Provided with the second motor, second harmonic decelerator is connected on the output shaft of the second motor, the other end of large arm connects one end of forearm,
Forearm one end and the junction of large arm are provided with the 3rd motor, and third harmonic decelerator, forearm are connected on the output shaft of the 3rd motor
Other end connection manipulator, the junction of manipulator and the forearm other end is provided with the 4th motor.
Further, the 4th motor is fixed on motor mount, and motor mount is connected to forearm side, forearm
Opposite side connection robot carriage, a ring flange is connected by adapter sleeve on the output shaft of the 4th motor, ring flange connection the
One connecting rod, one end of first connecting rod are connected with flange plate bolt, and its other end is connected with two second connecting rods, every second connecting rod
Finger is connected with, the middle part of finger and the end of robot carriage connect.
Further, spring is connected between two fingers, arc pad is provided with the inside of finger end.
The beneficial effects of the utility model are：Robot manipulator structure of the present utility model can be carried out with comprehensive to product
Blanking, and safe operation, conveniently, mitigate labor strength, save production cost, improve the production efficiency of product.
Brief description of the drawings
The utility model is further illustrated with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is structural representation of the present utility model.
Fig. 2 is Fig. 1 lateral partial cutaway view.
Fig. 3 is Fig. 1 top view.
Fig. 4 is the structural representation of manipulator in the utility model.
Fig. 5 is Fig. 4 in structural representation upward A.
In figure：1. support, 2. first motors, 3. first harmonic decelerators, 4. support lids, 5. large arm, 6. second motors, 7.
Second harmonic decelerator, 8. forearms, 9. the 3rd motors, 10. third harmonic decelerators, 11. manipulators, 12. the 4th motors, 13.
Motor mount, 14. robot carriages, 15. adapter sleeves, 16. ring flanges, 17. first connecting rods, 18. second connecting rods, 19. fingers,
20. spring, 21. arcs pad.
Embodiment
The utility model is further described presently in connection with accompanying drawing.These accompanying drawings are simplified schematic diagram only to show
Meaning mode illustrates basic structure of the present utility model, therefore it only shows the composition relevant with the utility model.
One kind as shown in Figures 1 to 3 manufactures label automatic loading and unloading manipulator structure, including support 1, consolidates on support 1
Surely there is the first motor 2, first harmonic decelerator 3, the top of support 1 connection organic block lid 4, machine are connected on the output shaft of the first motor 2
The top of flap 4 connects one end of large arm 5, and the junction of the one end of large arm 5 and the top of support lid 4 is provided with the second motor 6, the second motor
Second harmonic decelerator 7, one end of the other end connection forearm 8 of large arm 5, the one end of forearm 8 and large arm 5 are connected on 6 output shaft
Junction be provided with the 3rd motor 9, third harmonic decelerator 10 is connected on the output shaft of the 3rd motor 9, the other end of forearm 8 connects
Welding manipulator 11, the junction of manipulator 11 and the other end of forearm 8 are provided with the 4th motor 12.
As shown in Figures 4 and 5, the 4th motor 12 is fixed on motor mount 13, and motor mount 13 is connected to forearm 8 one
Side, the opposite side of forearm 8 connect robot carriage 14, and passing through adapter sleeve 15 on the output shaft of the 4th motor 12 connects a ring flange
16, ring flange 16 connects first connecting rod 17, one end and the bolt connection of ring flange 16 of first connecting rod 17, and its other end is connected with two
Root second connecting rod 18, every second connecting rod 18 are connected with finger 19, and the middle part of finger 19 is connected with the end of robot carriage 14.
Spring 20 is connected between two fingers 19, the tip inside of finger 19 is provided with arc pad 21.
First motor 2 can drive 360 ° of 5 perpendicular of large arm with 4 horizontal plane of engine-bed lid, 360 ° of rotations, the second motor 6
Rotation, the 3rd motor 9 can drive 8 perpendicular of forearm, 360 ° of rotations, and the 4th motor 12 can 360 ° of 11 horizontal plane of driving mechanical hand
Rotation, realize comprehensive to product progress loading and unloading.
For above-mentioned embodiment only to illustrate technical concepts and features of the present utility model, its object is to allow be familiar with this skill
The personage of art can understand content of the present utility model and be carried out, and protection model of the present utility model can not be limited with this
Enclose, all equivalent change or modifications made according to the utility model Spirit Essence, should all cover in protection model of the present utility model
In enclosing.
Claims (3)
1. one kind manufacture label automatic loading and unloading manipulator structure, including support, it is characterised in that：It is fixed with the support
First motor, connects first harmonic decelerator on the first motor output shaft, and connection organic block lid above support, the support portion of covering connects
One end of large arm is connect, large arm one end is provided with the second motor with support upper part of the cover junction, connected on the output shaft of the second motor
The junction of second harmonic decelerator, one end of the other end connection forearm of large arm, forearm one end and large arm is provided with the 3rd motor,
Third harmonic decelerator is connected on the output shaft of 3rd motor, the other end of forearm connects manipulator, and manipulator is another with forearm
The junction at end is provided with the 4th motor.
2. manufacture label automatic loading and unloading manipulator structure according to claim 1, it is characterised in that：4th electricity
Machine is fixed on motor mount, and motor mount is connected with robot carriage, passes through adapter sleeve on the output shaft of the 4th motor
A ring flange, ring flange connection first connecting rod are connected, one end of first connecting rod is connected with flange plate bolt, and its other end is connected with
Two second connecting rods, every second connecting rod are connected with finger, and the middle part of finger and the end of robot carriage connect.
3. manufacture label automatic loading and unloading manipulator structure according to claim 2, it is characterised in that：Two fingers it
Between be connected with spring, arc pad is provided with the inside of finger end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720947040.6U CN207027513U (en) | 2017-07-31 | 2017-07-31 | Manufacture label automatic loading and unloading manipulator structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720947040.6U CN207027513U (en) | 2017-07-31 | 2017-07-31 | Manufacture label automatic loading and unloading manipulator structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207027513U true CN207027513U (en) | 2018-02-23 |
Family
ID=61463480
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720947040.6U Expired - Fee Related CN207027513U (en) | 2017-07-31 | 2017-07-31 | Manufacture label automatic loading and unloading manipulator structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207027513U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110103214A (en) * | 2019-06-17 | 2019-08-09 | 青岛理工大学 | A kind of direct-drive type cooperation mechanical arm based on ultrasound electric machine |
-
2017
- 2017-07-31 CN CN201720947040.6U patent/CN207027513U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110103214A (en) * | 2019-06-17 | 2019-08-09 | 青岛理工大学 | A kind of direct-drive type cooperation mechanical arm based on ultrasound electric machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180223 Termination date: 20210731 |