CN101362327A - Fixed axis dual-arm transportation manipulator - Google Patents
Fixed axis dual-arm transportation manipulator Download PDFInfo
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- CN101362327A CN101362327A CNA2008101371380A CN200810137138A CN101362327A CN 101362327 A CN101362327 A CN 101362327A CN A2008101371380 A CNA2008101371380 A CN A2008101371380A CN 200810137138 A CN200810137138 A CN 200810137138A CN 101362327 A CN101362327 A CN 101362327A
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- manipulator
- tooth bar
- swing arm
- square steel
- slide rail
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Abstract
The invention provides a dead axle double-arm transportation manipulator. The manipulator comprises an upper manipulator and a lower manipulator which are arranged on an identical rotary main shaft, each manipulator comprises an oscillating arm and a pushing manipulator arranged at one end of the oscillating arm, the oscillating arm comprises a square steel case, a gear rack motor is installed on one side of the square steel case, a drive gear is installed on the output shaft of the gear rack motor, a gear rack joggled with the drive gear, a slide rail connected with the gear rack and a slide rail seat in the identical group of the slide rail are arranged inside the square steel case, and a gear rack push rod which can be transversally moved along the gear rack inside the square steel case is respectively installed on each side of the gear rack; the pushing manipulator comprises a gear frame, a gripper connected with the gear frame and a return spring connected between the gear frame and the gripper. The dead axle double-arm transportation manipulator has the advantages that the structure is simple, the space utilization factor is high, and the transportation is flexible.
Description
(1) technical field
What the present invention relates to is a kind of conveying robot, specifically a kind of fixed axis dual-arm transportation manipulator that is used for the bar carrying.
(2) background technology
Manipulator transhipment technology is as one of main modular of warehousing system, and it is the tie that connects each equipment in the storehouse.What traditional bar carrying was all adopted is horizontal transhipment, and it is low to exist space availability ratio, less economical shortcoming.
The representative instance of the horizontal transhipment of tradition robot is the hand type stacking machine.The related data that such technology is arranged in Chinese patent literature.As disclosing a kind of paw mechanism of Intelligentized manipulator stacking machine for 200710020078.X number, be by of the common clamping that cooperate case or bag work four directions position of a pair of front and back pick device with a pair of left and right sides pick device, this kind mechanism can fine realization material transhipment, but shortcoming is to take up room greatly, for the clamping underaction of material.
Also have a kind of automatic clamping of No. 99237347.6 announcements, the manipulator of discharging in addition, this kind device mainly comprises mechanical paw, pivot pin, top board, mechanical wrist, friction pulley, roller, spring etc., after workpiece enters mechanical paw, under the effect of spring, top board contacts with mechanical paw and compresses downwards, forces mechanical paw to rotate and holding workpiece.Its shortcoming is to have only a paw, and operating efficiency is lower, and reliable for the clamping underaction of workpiece.
(3) summary of the invention
The object of the present invention is to provide a kind of simple in structure, space availability ratio is high, carry fixed axis dual-arm transportation manipulator flexibly.
The object of the present invention is achieved like this:
Comprise upper and the next two manipulators that are arranged on the same rotary main shaft, the composition of each manipulator comprises swing arm and is arranged at the pusher hand of an end of swing arm, the composition of described swing arm comprises the square steel housing, side dress at the square steel housing is equipped with the tooth bar motor, on the output shaft of tooth bar motor travelling gear is installed, the square steel enclosure interior be provided with the tooth bar of travelling gear engagement, the slide rail that is connected with tooth bar and with the slide track seat of one group of slide rail, the tooth bar both sides respectively be equipped with one in the square steel enclosure slot with the laterally mobile tooth bar push rod of tooth bar; The composition of described pusher hand comprises gear frame, and the paw that links to each other with gear frame is connected the back-moving spring between gear frame and the paw; The swing arm of upper manipulator is the stairstepping swing arm, and the swing arm of the next machinery is horizontal shape swing arm, is arranged in the horizontal segment of swing arm with the tooth bar of travelling gear engagement, the slide rail that is connected with tooth bar with the slide track seat of one group of slide rail.
Present invention includes two manipulators up and down of coaxial rotating.Manually do on the given basis, zone going out to put in storage the host computer tool, taken all factors into consideration arranging of storehouse case under each bar, continue to have carried out the allocation plan of total interface.Rotary middle spindle is around each interface circle distribution, and the transportation manipulator wraparound is changeed central shaft and carried out positive counter clockwise rotation transhipment.
The structure function principle of two transportation manipulators is similar up and down, the main distinction is that the linking arm of upper manipulator is step-like, the swing arm of the next manipulator is that level is stretched out, the purpose of design is in order to make transportation manipulator transport bar at sustained height, reduced between the interference region that can bump, strengthened the coordination turn-over capacity.Below be that example is set forth its feature just with the next transportation manipulator.
The next manipulator mainly is made up of three sub-agencies, is respectively oscillating arm mechanisms, bar pick-and-place mechanism and pusher; Its operation process is jointly controlled by two frees degree, and spindle motor drives the square steel swing arm, and the tooth bar motor provides power source for the executing agency that directly acts on bar self.
Square steel swing arm left end connects rotary main shaft, and right-hand member connects the combined action mechanism of bar handing-over, is processed with the gear opening above the square steel swing arm central enclosure, assembles motor cabinet in order to connect tooth bar motor and travelling gear in the one side.Enclosure interior from top to bottom be successively with the tooth bar of travelling gear engagement, the slide rail that is connected with tooth bar and with the slide track seat of one group of slide rail.A tooth bar push rod that laterally moves with tooth bar respectively is equipped with in the tooth bar both sides in the swing arm groove, and the right-hand member of tooth bar is connecting the pusher hand.The effect of tooth bar push rod is to drive the manipulator gear frame to make manipulator hold tightly and open, and the function of pusher hand is pushed into bar with bar from transportation manipulator exactly and goes out the bank interface.
Its transhipment course of work is: in the outbound process, forward required bar interface to according to first manipulator of control instruction, with storehouse case interface to after whole, the storehouse case intermittently will be one by one bar shift onto in the paw of manipulator, the back tooth bar moves backward and the tooth bar push rod drives the manipulator gear frame to treat bar to put in place, gripper tightens up, bar is embraced, then the swing arm rotation is transferred to the bar outlet with bar, whole back tooth bar is moved the push rod material, gripper cooperates push rod material action under action of reset spring, avoid pusher hand excessive velocities and gripper does not come to such an extent that urgency is opened the damage manipulator mechanism with this, finishes the bar outbound and transports.First manipulator with go out bank interface to whole and in push rod material wherein, second manipulator forwarded the action that storehouse case outlet repeats first manipulator to, leaves out bank interface up to second machine manipulator and finishes a working cycles.Because it is reversible that bar goes out the path of warehouse-in, so otherwise the process of bar warehouse-in.
Guaranteeing swing arm not under the situation of interference and collision, transportation manipulator logic chronologically requires to coordinate transhipment around same dead axle.
(4) description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is the vertical view of Fig. 1.
(5) specific embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1, this fixed axis dual-arm transportation manipulator system comprises two manipulators up and down of coaxial rotating.The structure function principle of two transportation manipulators is similar up and down, and the main distinction is that the linking arm 1 of upper manipulator is step-like, and the swing arm 7 of the next manipulator is that level is stretched out.
Upper and lower computer tool hand mainly is made up of three sub-agencies, is respectively oscillating arm mechanisms, bar pick-and-place mechanism and pusher, and its operation process is jointly controlled by two frees degree.Motor bearing 11 is connected on the main shaft base 12, and spindle motor 10 is connected on the motor bearing 11 by ring flange, and spindle motor 10 drives square steel swing arm 7 by gears engaged, and the tooth bar motor provides power source for the executing agency that directly acts on bar self.
Square steel swing arm 7 left ends connect rotary main shaft 2, and right-hand member connects the combined action mechanism of bar handing-over, is processed with the gear opening above square steel swing arm 7 central enclosure, assemble motor cabinet 14 in order to connect tooth bar motor 13 and travelling gear in the one side.Enclosure interior from top to bottom be successively with the tooth bar 5 of travelling gear engagement, the slide rail 6 that is connected with tooth bar 5 and with the slide track seat of 6 one groups of slide rails.A tooth bar push rod 3 that laterally moves with tooth bar respectively is equipped with in tooth bar 5 both sides in swing arm 7 grooves, and the right-hand member of tooth bar 5 is connecting pusher hand 4.The effect of tooth bar push rod 3 is to drive manipulator gear frame 15 to make manipulator hold tightly and open, and the function of pusher hand 4 is pushed into bar with bar from transportation manipulator exactly and goes out the bank interface.
In bar outbound process, forward required bar interface to according to first manipulator of control instruction, with storehouse case interface to after whole, storehouse case intermittence a bar is shifted onto in the paw 9 of manipulator, back tooth bar 5 moves backward and tooth bar push rod 3 drives manipulator gear frame 15 to treat bar to put in place, gripper 9 tightens up bar and is embraced, then swing arm 7 rotations are transferred to the bar outlet with bar, whole back tooth bar 5 is moved the push rod material, gripper 9 cooperates the action of push rod material under back-moving spring 16 effects, finish bar outbound transhipment.Because it is reversible that bar goes out the path of warehouse-in, so otherwise the process of bar warehouse-in.
Claims (1)
1. fixed axis dual-arm transportation manipulator, comprise upper and the next two manipulators that are arranged on the same rotary main shaft, it is characterized in that: the composition of each manipulator comprises swing arm and is arranged at the pusher hand of an end of swing arm, the composition of described swing arm comprises the square steel housing, side dress at the square steel housing is equipped with the tooth bar motor, on the output shaft of tooth bar motor travelling gear is installed, the square steel enclosure interior is provided with the tooth bar with the travelling gear engagement, the slide rail that is connected with tooth bar and with the slide track seat of one group of slide rail, a tooth bar push rod that laterally moves with tooth bar respectively is equipped with in the tooth bar both sides in the square steel enclosure slot; The composition of described pusher hand comprises gear frame, and the paw that links to each other with gear frame is connected the back-moving spring between gear frame and the paw; The swing arm of upper manipulator is the stairstepping swing arm, and the swing arm of the next machinery is horizontal shape swing arm, is arranged in the horizontal segment of swing arm with the tooth bar of travelling gear engagement, the slide rail that is connected with tooth bar with the slide track seat of one group of slide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101371380A CN101362327B (en) | 2008-09-19 | 2008-09-19 | Fixed axis dual-arm transportation manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101371380A CN101362327B (en) | 2008-09-19 | 2008-09-19 | Fixed axis dual-arm transportation manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101362327A true CN101362327A (en) | 2009-02-11 |
| CN101362327B CN101362327B (en) | 2010-06-23 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008101371380A Expired - Fee Related CN101362327B (en) | 2008-09-19 | 2008-09-19 | Fixed axis dual-arm transportation manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101362327B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102263353A (en) * | 2011-06-01 | 2011-11-30 | 上海博显实业有限公司 | Pneumatic manipulator device and full-automatic wire-peeling mechanism thereof |
| CN102616247A (en) * | 2012-03-26 | 2012-08-01 | 哈尔滨工程大学 | Train unhooking robot |
| CN104709720A (en) * | 2015-02-12 | 2015-06-17 | 青岛德隆科技有限公司 | Full automatic double-arm stacking and destacking machine |
| CN113286957A (en) * | 2019-01-16 | 2021-08-20 | 詹尼斯机器人移动技术有限公司 | Actuator arrangement |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3902341A1 (en) * | 1988-06-03 | 1989-12-07 | Mannesmann Ag | GRIPPER OF AN INDUSTRIAL ROBOT |
| FR2652529B1 (en) * | 1989-10-02 | 1992-02-07 | Vega Automation | ROBOT. |
| CN1307027C (en) * | 2002-07-11 | 2007-03-28 | 上海交通大学 | Multifunctional dual-arm robot for education |
| CN2764719Y (en) * | 2004-10-16 | 2006-03-15 | 无锡力马化工机械有限公司 | Double arm clamping type bag feeding manipulator |
| CN2834805Y (en) * | 2005-09-24 | 2006-11-08 | 海尔集团公司 | Manipulator having rack driven suspension arm structure |
-
2008
- 2008-09-19 CN CN2008101371380A patent/CN101362327B/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102263353A (en) * | 2011-06-01 | 2011-11-30 | 上海博显实业有限公司 | Pneumatic manipulator device and full-automatic wire-peeling mechanism thereof |
| CN102616247A (en) * | 2012-03-26 | 2012-08-01 | 哈尔滨工程大学 | Train unhooking robot |
| CN104709720A (en) * | 2015-02-12 | 2015-06-17 | 青岛德隆科技有限公司 | Full automatic double-arm stacking and destacking machine |
| CN113286957A (en) * | 2019-01-16 | 2021-08-20 | 詹尼斯机器人移动技术有限公司 | Actuator arrangement |
| CN113286957B (en) * | 2019-01-16 | 2024-06-04 | 詹尼斯移动解决方案有限合伙企业 | Actuator arrangement |
| US12109697B2 (en) | 2019-01-16 | 2024-10-08 | Genesis Advanced Technology Inc. | Actuator arrangement |
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| Publication number | Publication date |
|---|---|
| CN101362327B (en) | 2010-06-23 |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100623 Termination date: 20120919 |