CN102717378A - Manipulator device - Google Patents
Manipulator device Download PDFInfo
- Publication number
- CN102717378A CN102717378A CN2012100222934A CN201210022293A CN102717378A CN 102717378 A CN102717378 A CN 102717378A CN 2012100222934 A CN2012100222934 A CN 2012100222934A CN 201210022293 A CN201210022293 A CN 201210022293A CN 102717378 A CN102717378 A CN 102717378A
- Authority
- CN
- China
- Prior art keywords
- fixed
- drive sprocket
- transmission mechanism
- sprocket
- robot device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention provides a manipulator device which comprises a holding arm, a transmission mechanism and at least two clamping hand grips, wherein the transmission mechanism is fixed on the holding arm; the at least two clamping hand grips are connected with the drive mechanism; the transmission mechanism comprises a first transmission mechanism and a second transmission mechanism which are respectively used for fixing a clamping hand grip; the first transmission mechanism and the second transmission mechanism respectively comprise a first driving shaft, a second driving shaft, a first driving chain wheel, a second driving chain wheel, a first transmission chain wheel, a second transmission chain wheel, a first transmission chain and a second transmission chain; the first driving chain wheel and the second driving chain wheel are respectively fixed on the first driving shaft and the second driving shaft; the first transmission chain wheel and the second transmission chain wheel are fixed on the holding arm and respectively rotate with the first driving chain wheel and the second driving chain wheel towards the same direction; the first transmission chain and the second transmission chain are respectively movably positioned on the first driving chain wheel and the first transmission chain wheel as well as the second driving chain wheel and the second transmission chain wheel; and the clamping hand grips are respectively fixed on the first transmission chain and the second transmission chain, and are close to each other or far away from each other along with the moving of the first transmission chain and the second transmission chain so as to be suitable for the transportation of workpieces with multiple models.
Description
Technical field
The present invention relates to the robotic device field, relate in particular to a kind of robot device of regulating.
Background technology
Along with the increase gradually of labor cost, automation equipment becomes the important tool that production is made of carrying out of every profession and trade production firm gradually.Be the conversion between the streamline of realizing different spare parts, the be correlated with transfer action of spare part of some robotic devices can be set usually.Common robotic device generally includes controlling organization and is connected to carry out the handgrip of clamping spare part with controlling organization on the market.But this kind handgrip only is set to carry out the clamping carrying to the spare part of fixed size usually, when spare part is changed, then need change to be suitable for new spare part size the handgrip on this robotic device.This shows; In the time need carrying the spare part of different model at interval on the same streamline of a certain product; Existing mechanical hand equipment then is difficult to realize the automation of this kind streamline manufacturing, thereby the operating efficiency bottleneck occurs, has a strong impact on the production efficiency of corresponding product.
Therefore, be necessary to provide a kind of improved robot device to overcome the problems referred to above.
Summary of the invention
The object of the present invention is to provide a kind of the adjusting to be suitable for the robot device of the multiple model workpiece of carrying.
Correspondingly; Robot device of the present invention; At least two clamping handgrips that comprise the fixing arm, are fixed in the transmission mechanism on the fixing arm and are connected with transmission mechanism; Said transmission mechanism comprises first transmission mechanism and second transmission mechanism of a fixing respectively clamping handgrip at least; Said first transmission mechanism and second transmission mechanism comprise first driving shaft and second driving shaft respectively, be individually fixed in first drive sprocket and second drive sprocket on first, second driving shaft, be fixed on the fixing arm and respectively with homodromal first drive sprocket of first, second drive sprocket and second drive sprocket; And first driving chain and second driving chain of activity orientation on first drive sprocket and first drive sprocket and second drive sprocket and second drive sprocket respectively, said clamping handgrip be individually fixed on first, second driving chain and with the mobile of first, second driving chain each other near or away from.
As further improvement of the present invention; Said first transmission mechanism also comprises the drive motors that drives first drive shaft turns and is fixed in the driven wheel on first driving shaft, said second transmission mechanism comprise be fixed on second driving shaft and with the driven wheel engagement to drive the driven gear that second driving shaft and second drive sprocket rotate.
As further improvement of the present invention; Said robot device also comprise in order to said first drive sprocket and the second drive sprocket activity orientation in the set bolt on the fixing arm and be fixed in two strainers on the fixing arm, each strainer comprise be fixed on the set bolt and the chain wheel support in first drive sprocket or second drive sprocket outside, be fixed on chain wheel support and the fixing arm and along the adjustment screw rod that supports first or second driving chain perpendicular to the direction of driving chain, be fixed in the terminal adjustment nut of adjustment screw rod and be arranged on the adjustment screw rod and be clamped and fastened on the fixing arm outside and the compression spring of adjusting between the nut.
As further improvement of the present invention, said fixing arm is provided with and supplies to be fixed with set bolt edge first driving chain of strainer or the loose slot that the second driving chain moving direction moves.
As further improvement of the present invention; Said strainer also comprises the limited block that is fixed in the loose slot both sides, is fixed in the terminal and slide block between two limited blocks of the set bolt that is fixed with strainer, forms the chute that supplies slide block to move along the first or second driving chain moving direction between the said limited block.
As further improvement of the present invention, said first drive sprocket and second drive sprocket comprise tightener sprocket and the inner sprocket that along continuous straight runs is located along the same line and clamps handgrip displacement to limit respectively, and said strainer is arranged at the tightener sprocket outside.
As further improvement of the present invention; Said fixing arm be provided with crossbeam and from the crossbeam outside and crossbeam at angle to two arms that extend below; Said tightener sprocket, inner sprocket, strainer and clamping handgrip all are positioned at the arm downside, and said first drive sprocket and second drive sprocket also comprise two transition sprocket wheels that are fixed in crossbeam and arm junction respectively.
As further improvement of the present invention, said robot device comprises that also along continuous straight runs lays respectively at two limit switches between tightener sprocket and the inner sprocket, clamps the shift position of handgrip with restriction.
As further improvement of the present invention, said clamping handgrip is respectively equipped with and is positioned at the top being fixed in the chain clamp mechanism on first, second driving chain, and is positioned at downside to collude the trip of holding the carrying workpiece.
As further improvement of the present invention, said first transmission mechanism and second transmission mechanism also comprise a drive motors that drives first driving shaft and second drive shaft turns respectively.
The invention has the beneficial effects as follows: in the robot device of the present invention through being provided with the transmission mechanism of driving chain; To regulate two clamping distances between the clamping handgrip; Thereby be suitable for the carrying of the workpiece of multiple model; And then realization need carry the manufacturing automation of streamline of the workpiece of different model at interval, increases work efficiency and production efficient.
Description of drawings
Fig. 1 is provided with the handling robot system of robot device of the present invention and the stereogram of a workpiece;
Fig. 2 is the stereogram of another angle of handling robot system and a workpiece among Fig. 1;
Fig. 3 is the stereogram of the base of handling robot system among Fig. 1;
Fig. 4 is the stereogram of the Rotary cloumn of handling robot system among Fig. 1;
Fig. 5 is the three-dimensional cross-sectional schematic of the part of Rotary cloumn among Fig. 4, shows the internal structure of Rotary cloumn;
Fig. 6 is the stereogram of the cantilever of handling robot system among Fig. 1;
Fig. 7 is the part cross-sectional schematic of cantilever among Fig. 6, shows the internal structure of cantilever;
Fig. 8 is the stereogram of robot device of the present invention;
Fig. 9 is the phantom of robot device among Fig. 8, shows the internal structure of robot device;
Figure 10 is that robot device removes the part stereogram behind the fixing arm among Fig. 8;
Figure 11 is the front view of the mechanical arm device of part among Figure 10;
Figure 12 is the vertical view of Figure 10 part robot device;
Figure 13 is the part three-dimensional cutaway view of robot device among Fig. 8, shows the structure of strainer.
The specific embodiment
Below will combine each embodiment shown in the drawings to describe the present invention.But these embodiments do not limit the present invention, and the conversion on the structure that those of ordinary skill in the art makes according to these embodiments, method or the function all is included in protection scope of the present invention.
Please with reference to Fig. 1 and shown in Figure 2 for being provided with first preferred embodiments of handling robot system 100 of robot device 200 of the present invention.Said handling robot system 100 is used to carry out the carrying of large-scale heavy workpiece 800; And comprise base 1, activity orientation on the base 1 and with the vertically disposed Rotary cloumn of base 12, vertically be installed on the Rotary cloumn 2 and be fixed in the terminal manipulator 4 of cantilever 3, and the control device 5 of control Rotary cloumn 2 anglecs of rotation and base 1, cantilever 3 and manipulator 4 displacements along cantilever 3, the activity of Rotary cloumn 2 axial direction lifting moving.Said manipulator 4 promptly constitutes robot device 200 of the present invention with part control device 5.
Please referring to figs. 1 through shown in 3, in handling robot system 100, said base 1 comprises ground rail 11 and the activity orientation locomotive 12 that also rail 11 driven rotary columns 2 move along ground on ground rail 11 that is fixed on the ground (not shown).Said control device 5 comprises first drive motors 51 that driving locomotive 12 moves.Said Rotary cloumn 2 is vertically positioned on the locomotive 12 and can on locomotive 12, rotates around Rotary cloumn 2 axle center.Said ground rail 11 is the basic load-supporting part of handling robot system 100; Be fixed in mattess through chemical bolt (not shown); With the gravity of opposing handling robot system 100 and carrying large heavy workpiece 800, bear the tilting moment in 800 liftings of carrying workpiece and the transportation simultaneously.
Said ground rail 11 is provided with ground beam-and-rail 111, be fixed in the track 112, the protective cover 113 that hides track 112 outsides that move along its ground rail 11 axial directions for locomotive 12 beam-and-rail 111 both sides, ground, be positioned on the ground beam-and-rail 111 dee 114 between two tracks 112 and be positioned the drag chain 115 in the dee 114.Be provided with the cable 10 that connects control device 5 each several parts in the said drag chain 115, thereby avoid in locomotive 12 walking processes cable 10 to be pullled, pile up and produce unusual.Said first drive motors 51 is fixed on the locomotive 12.Said locomotive 12 is provided with twisted and released of the cable line mechanism 121.This twisted and released of the cable line mechanism 121 is made up of inner shield ring 1211 and outer back-up ring 1212; Cable 10 in the drag chain 115 is after the wire casing outlet of locomotive 12 bottoms is fixing; With Rotary cloumn 2 rotary middle spindles coiling two to three circles, Rotary cloumn 2 lower ends are fixed at cable 10 terminals, coiling back in inside and outside back-up ring 1211, space between 1212.Thereby when Rotary cloumn 2 rotation, drive the revolution of cable 10 terminals and move, and then drive twisted and released of the cable line mechanism 121 and screw or loosen, twine effectively avoiding cable 10 to give a discount in the scope of angle of revolution guaranteeing.
Please referring to figs. 1 through shown in Figure 5, said Rotary cloumn 2 is provided with and is positioned at its bottom with the first pivoting support mount pad 21 that cooperates rotation with locomotive 12, and the column 22 of vertical fixing on the first pivoting support mount pad 21.Said column 22 is a tubular structure, and portion is provided with in order to balanced cantilever 3 balance weight mechanism 221 with carrying workpiece 800 weight within it, and outer setting has four square tubes 222 that are fixed in around it.Said balance weight mechanism 221 comprises the counterweight sprocket wheel 2212 that is positioned over four tons of inboard balancing weights 2211 of column 22, is fixed in column 22 inside upper part, is positioned counterweight driving chain 2213 and chain connecting ring 2214 on the counterweight sprocket wheel 2212.Said chain connecting ring 2214 is connected with cantilever 3, so that being passed through counterweight sprocket wheel 2212, counterweight driving chain 2213 and balancing weight 2211, the weight of cantilever 3 and carrying workpiece offsets, thus the center of gravity and the lifting action power demand of reduction handling robot system 100.Said column 22 is provided with the line slideway 223 that is fixed on the square tube 222 and extends along column 22 axial directions.
Said control device 5 also comprises second drive motors 52 that driven in rotation column 2 drive cantilevers 3 are rotated and drives the elevating mechanism 53 that cantilever 3 moves along Rotary cloumn 2 axial directions on locomotive 12.Said second drive motors 52 is fixed on the first pivoting support mount pad 21, is rotated around its axle center with driven in rotation column 2.Said elevating mechanism 53 comprises hydraulic power unit 531 and the hoist cylinder 532 that is installed on column 22 sides.Said hydraulic power unit 531 can be a whole set of handling robot system 100 that comprises hoist cylinder 532 hydraulic power is provided.As shown in Figure 4, said hydraulic power unit 531 is installed in the center of gravity of column 22 sides with reduction handling robot system 100, and shortens hydraulic circuit supply distance, reduces the hydraulic circuit loss, and then reduction system 100 fault rates.
Please referring to figs. 1 through shown in Figure 7, said cantilever 3 is provided with around Rotary cloumn 2 cantilever 3 being positioned the locating rack 31 on the Rotary cloumn 2, and connect locating rack 31 and with Rotary cloumn 2 vertically disposed cantilever beams 32.Said locating rack 31 is provided with and is fixed in locating rack 31 inboards cooperating the ball slide block 311 that slides with line slideway 223, and be fixed in locating rack 31 outsides with Rotary cloumn 2 on hoist cylinder 532 be connected to drive the vertical up and down mobile cylinder support 312 of cantilever 3.Said cantilever beam 32 is provided with the second pivoting support mount pad 321 of confession manipulator 4 around its rotation away from the terminal downside of locating rack 31.Said control device 5 also comprises and is fixed in cantilever beam 32 inboards with the 3rd drive motors 54 of drives mechanical hand 4 rotation around the axle center of the second pivoting support mount pad 321 and be fixed in cantilever beam 32 ends to carry the vision shooting interpretation mechanism 50 of workpiece model scanning.Before this vision shooting interpretation mechanism 50 is used in and carries out workpiece 800 carryings; Obtain the model that to carry workpiece 800 earlier; Then this model is fed back to control device 5; Control device 5 can obtain the relevant parameter corresponding with this workpiece 800, with to workpiece 800 placement location automatic interpretations, guarantees that manipulator 4 correctly grasps and transports safely.
Said control device 5 also comprises and carries out cantilever 3 along laser ranging mechanism 55 that Rotary cloumn 2 axial direction displacements are measured.Said laser ranging mechanism 55 comprises the laser range sensor 551 that is fixed on the Rotary cloumn 22, and the target 552 that is fixed on the locating rack 31 of cantilever 3 and is oppositely arranged along Rotary cloumn 2 axial directions with laser ranging sensing 551; Thereby can measure the range ability of cantilever 3, and the height distance information of feedback manipulator 4, and then cooperate elevating mechanism 53 height of adjustment cantilever 3 in good time, and guarantee manipulator 4 correct extractings or place work piece 800, guarantee that transportation is safe and reliable.
Please extremely shown in Figure 13 with reference to Fig. 6 is the specific embodiment of robot device 200 of the present invention.Said manipulator 4 in the robot device 200 wherein of the present invention comprises two clamping handgrips 45 that activity is fixed in the fixing arm 41 on the second pivoting support mount pad 321 and is fixed on the fixing arm 41 and is oppositely arranged.41 one-tenth inverted U designs of the arm of fixing described in the present invention, and be provided with the dragging track 410 that supplies clamping handgrip 45 to move along fixing arm 41 length directions.Said control device 5 comprises that also driving two clamping handgrips 42 deviates from mobile transmission mechanism 56 in opposite directions or mutually along dragging track 410.Said manipulator 4 promptly constitutes the robot device according to the invention 200 in order to clamping carrying workpiece 800 with transmission mechanism 56.
Please combine Fig. 9 to shown in Figure 12, said transmission mechanism 56 comprises first transmission mechanism 561 and second transmission mechanism 562 of a fixing respectively clamping handgrip 45 at least.Said first transmission mechanism 561 comprises first driving shaft 5611, drive the moving motor 563 of 4 wheel driven that first driving shaft 5611 rotates, be fixed in the driven wheel 5612 and first drive sprocket 5613 on first driving shaft 5611, be fixed on the fixing arm 41 and respectively with first drive sprocket, 5613 homodromal first drive sprockets 5614, and first driving chain 5615 of activity orientation on first drive sprocket 5613 and first drive sprocket 5614.Said second transmission mechanism 562 comprises second driving shaft 5621, be fixed in second drive sprocket 5622 on second driving shaft 5621, be fixed on second driving shaft 5621 and with driven wheel 5612 engagements with drive the counter-rotational driven gear of relative first drive sprocket 5622 of second driving shaft 5621 and second drive sprocket 5,622 5623, be fixed on the fixing arm 41 and with second drive sprocket, 5622 homodromal second drive sprockets 5624, and second driving chain 5625 of activity orientation on second drive sprocket 5622 and second drive sprocket 5624.Said first transmission mechanism 561 and 562 reverse intersections of second transmission mechanism install, and move along inverse direction.Said clamping handgrip 45 be individually fixed on first, second driving chain 5615,5625 and with moving of first, second driving chain 5615,5625 each other near or away from.
Please combine Fig. 8 to shown in Figure 13, said fixing arm 41 be provided with crossbeam 411 and from crossbeam 411 outsides and crossbeam 411 at angle to two arms 412 that extend below.Said dragging track 410 forms from two outside respectively projections in arm 412 lower ends.Said first drive sprocket 5614 and second drive sprocket 5624 comprise two transition sprocket wheels 567 that are fixed in crossbeam 411 and each arm 412 junction respectively and be fixed in these arm 412 downsides and tightener sprocket 564 and inner sprocket 565 that along continuous straight runs is located along the same line, thereby make win driving chain 5615 and second driving chain 5625 all include a horizontal component 566.Said clamping handgrip 45 all is fixed on this horizontal component 566 and along continuous straight runs moves and each other near or away from.Said manipulator 4 comprises that also along continuous straight runs lays respectively at tightener sprocket 564 and two limit switches 46 between the inner sprocket 565 in second drive sprocket 5624; Clamp the shift position of handgrip 45 along continuous straight runs in order to restriction; Avoid setting mistake or software and make mistakes and cause clamping handgrip 45 operations and surmount the spacing stuck moving motor 563 of 4 wheel driven or other actuated elements of causing and damage, guarantee the safety of robot device because of control device 5 internal programs.Really, said manipulator 4 also can be provided with along continuous straight runs and lay respectively at tightener sprocket 564 and the limit switch between the inner sprocket 565 in first drive sprocket 5614, in order to limit the displacement of first driving chain, 5615 along continuous straight runs.
Said manipulator 4 also comprise in order to said first drive sprocket 5614 and second drive sprocket, 5624 activity orientation in the set bolt on the fixing arm 41 42 and be fixed on the fixing arm 41 to regulate two strainers 43 of first, second driving chain 5615,5625 elasticities respectively.Each strainer 43 comprises and is fixed on the set bolt 42 and is positioned at first drive sprocket 5614 or the chain wheel support 431 in second drive sprocket, 5624 outsides; Be fixed on chain wheel support 431 and the fixing arm 41 and and support first or second driving chain 5615 along direction perpendicular to first driving chain 5615 or second driving chain 5625; 5625 adjustment screw rod 432; Be fixed in the adjustment nut 433 of adjustment screw rod 432 ends; And be arranged on the adjustment screw rod 432 and be clamped and fastened on fixing arm 41 outsides and the compression spring of adjusting between the nut 433 434.Said adjustment screw rod 432 extends to fixing wall 41 outsides, and said adjustment nut 433 is fixed in the end that adjustment screw rod 432 is positioned at fixing wall 41 outsides.Strainer described in the present invention 43 is to be fixed on the set bolt 42 that is fixed with tightener sprocket 564, and really, in other embodiments, said strainer 564 also can be arranged on the set bolt 42 that is fixed with other drive sprockets 5614,5624.Each arm 412 is provided with a confession and is fixed with set bolt 42 edge first driving chains 5615 of strainer 43 or the loose slot 413 that second driving chain, 5625 moving directions move.Each strainer 43 also comprises the limited block 435 that is fixed in loose slot 413 both sides, is fixed in the set bolt 42 terminal and slide blocks between two limited blocks 435 436 that are fixed with strainer 43, forms between the said limited block 435 to supply set bolt 42 to drive the chute 437 that slide blocks 436 move along first or second driving chain, 5615,5625 moving directions.Can regulate the tensile force of compression spring 434 thus through adjustment screw rod 432 and adjustment nut 433; And reduce through regulating the tensile force that wearing and tearing that compensation produced because of driving chain 5615,5625 long-time running, stretching etc. cause, guarantee that driving chain 5615,5625 is in tensioning state, avoids that driving chain 5615,5625 is slack and undisciplined to cause that to take off chain, collision fixing wall 41 etc. unusual; In addition; But said loose slot 413 is the scale error of adequate compensation carrying workpiece clamp segment also; The clamped condition of avoiding being produced by clamping handgrip 45 exact positions that the moving motor 563 of 4 wheel driven is controlled to workpiece model clamp segment size is unusual, and avoid clamping handgrip 45 and excessively clamp bump, damages workpiece, thereby but can increase grabbing workpiece dimensional accuracy scope; Guarantee that workpiece safety grasps and transportation, and then form a flexible mechanical arm device.
Said clamping handgrip 45 is provided with main part 451, be formed at main part 451 tops with fixing arm 41 on dragging track 410 match two slide plates 452 sliding, chain clamp mechanism 453 to fix with first driving chain 5615 or second driving chain 5625 between slide plate 452, and autonomous body 451 1 ends to extend below to collude the trip 454 of holding carrying workpiece 800.This shows said tightener sprocket 564, inner sprocket 565, strainer 43 and clamp handgrip 45 and all be positioned at arm 412 downsides.
Said first, second, third and the moving motor 51,52,54,563 of 4 wheel driven include servomotor and be fixed in the planetary gear reductor on the servomotor.During the driving device arm device; Servomotor in the moving motor 563 of 4 wheel driven transfers to the driven wheel 5612 and first drive sprocket 5613 by first driving shaft 5611 after slowing down through the planetary gear reductor, drives one of them through first driving chain 5615 and clamps handgrip 45 motions; In addition, the secondary reverse drive direction of transmitting of driven wheel 5612 drive second transmission mechanism 562 and oppositely move relative to first transmission mechanism 561, and then make two clamping handgrips 42 clamp synchronously in opposite directions or loosen the action of carrying workpiece.
In robot device 200 of the present invention, said transmission mechanism 56 comprises first, second transmission mechanism 561,562 of respectively corresponding two clamping handgrips 45, and this first, second transmission mechanism 561,562 all drives running through the moving motor 563 of 4 wheel driven; Really, in other embodiments, said first transmission mechanism 561 and second transmission mechanism 562 also can be separated from each other, and the drive motors that a drive driving shaft 5611,5621 rotates is set respectively, also can realize the object of the invention; In addition; Robot device 200 of the present invention comprises two clamping handgrips 45; In other embodiments; This robot device 200 also can comprise clamping handgrip 45 more than two, and drive the transmission mechanism that this clamping handgrip 45 moved and had respectively a drive motors respectively, to adapt to the demand of carrying workpiece.
Please combine Fig. 1 to shown in Figure 12; Said control device 5 also comprises vision shooting interpretation mechanism 50; First, second, third, fourth drive motors 51,52,54,563; Elevating mechanism 53 and laser ranging mechanism 55 carry out the controller 59 of operating state control, thereby can control the anglec of rotation of Rotary cloumn 2 and the displacement of base 1, cantilever 3 and manipulator 4, and then realize accurately grasping and carrying workpiece 800.
In sum; Transmission mechanism 561,562 through being provided with driving chain 5615,5625 in the robot device 200 of the present invention; To regulate two clamping distances between the clamping handgrip 45; Thereby be suitable for the carrying of the workpiece 800 of multiple model, and then realization need carry the manufacturing automation of streamline of the workpiece of different model at interval, increase work efficiency and production efficient; In addition, clamp handgrip 45, also can avoid when place work piece 800 transmission mechanism 561,562 stuck and can not turn round, reduce robot system 100 rate of breakdown that are provided with robot device 200 of the present invention through using driving chain 5615,5625 transmissions.
Be to be understood that; Though this specification is described according to embodiment; But be not that each embodiment only comprises an independently technical scheme, this narrating mode of specification only is for clarity sake, and those skilled in the art should make specification as a whole; Technical scheme in each embodiment also can form other embodiments that it will be appreciated by those skilled in the art that through appropriate combination.
The listed a series of detailed description of preceding text only is specifying to feasibility embodiment of the present invention; They are not in order to restriction protection scope of the present invention, allly do not break away from equivalent embodiment or the change that skill of the present invention spirit done and all should be included within protection scope of the present invention.
Claims (10)
1. robot device; At least two clamping handgrips that comprise the fixing arm, are fixed in the transmission mechanism on the fixing arm and are connected with transmission mechanism; It is characterized in that; Said transmission mechanism comprises first transmission mechanism and second transmission mechanism of a fixing respectively clamping handgrip at least; Said first transmission mechanism and second transmission mechanism comprise first driving shaft and second driving shaft respectively, be individually fixed in first drive sprocket and second drive sprocket on first, second driving shaft, be fixed on the fixing arm and respectively with homodromal first drive sprocket of first, second drive sprocket and second drive sprocket; And first driving chain and second driving chain of activity orientation on first drive sprocket and first drive sprocket and second drive sprocket and second drive sprocket respectively, said clamping handgrip be individually fixed on first, second driving chain and with the mobile of first, second driving chain each other near or away from.
2. manipulator according to claim 1; It is characterized in that; Said first transmission mechanism also comprises the drive motors that drives first drive shaft turns and is fixed in the driven wheel on first driving shaft, said second transmission mechanism comprise be fixed on second driving shaft and with the driven wheel engagement to drive the driven gear that second driving shaft and second drive sprocket rotate.
3. robot device according to claim 1; It is characterized in that; Said robot device also comprise in order to said first drive sprocket and the second drive sprocket activity orientation in the set bolt on the fixing arm and be fixed in two strainers on the fixing arm, each strainer comprise be fixed on the set bolt and the chain wheel support in first drive sprocket or second drive sprocket outside, be fixed on chain wheel support and the fixing arm and along the adjustment screw rod that supports first or second driving chain perpendicular to the direction of driving chain, be fixed in the terminal adjustment nut of adjustment screw rod and be arranged on the adjustment screw rod and be clamped and fastened on the fixing arm outside and the compression spring of adjusting between the nut.
4. robot device according to claim 3 is characterized in that, said fixing arm is provided with and supplies to be fixed with set bolt edge first driving chain of strainer or the loose slot that the second driving chain moving direction moves.
5. robot device according to claim 4; It is characterized in that; Said strainer also comprises the limited block that is fixed in the loose slot both sides, is fixed in the terminal and slide block between two limited blocks of the set bolt that is fixed with strainer, forms the chute that supplies slide block to move along the first or second driving chain moving direction between the said limited block.
6. according to any described robot device in the claim 3 to 5; It is characterized in that; Said first drive sprocket and second drive sprocket comprise tightener sprocket and the inner sprocket that along continuous straight runs is located along the same line and clamps handgrip displacement to limit respectively, and said strainer is arranged at the tightener sprocket outside.
7. robot device according to claim 6; It is characterized in that; Said fixing arm be provided with crossbeam and from the crossbeam outside and crossbeam at angle to two arms that extend below; Said tightener sprocket, inner sprocket, strainer and clamping handgrip all are positioned at the arm downside, and said first drive sprocket and second drive sprocket also comprise two transition sprocket wheels that are fixed in crossbeam and arm junction respectively.
8. robot device according to claim 6 is characterized in that, said robot device comprises that also along continuous straight runs lays respectively at two limit switches between tightener sprocket and the inner sprocket, clamps the shift position of handgrip with restriction.
9. robot device according to claim 1 is characterized in that, said clamping handgrip is respectively equipped with and is positioned at the top being fixed in the chain clamp mechanism on first, second driving chain, and is positioned at downside to collude the trip of holding the carrying workpiece.
10. robot device according to claim 1 is characterized in that, said first transmission mechanism and second transmission mechanism also comprise a drive motors that drives first driving shaft and second drive shaft turns respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210022293.4A CN102717378B (en) | 2012-02-01 | 2012-02-01 | Manipulator device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210022293.4A CN102717378B (en) | 2012-02-01 | 2012-02-01 | Manipulator device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102717378A true CN102717378A (en) | 2012-10-10 |
| CN102717378B CN102717378B (en) | 2015-05-20 |
Family
ID=46943317
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210022293.4A Active CN102717378B (en) | 2012-02-01 | 2012-02-01 | Manipulator device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102717378B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103692437A (en) * | 2013-12-30 | 2014-04-02 | 济南翼菲自动化科技有限公司 | Novel grabbing manipulator |
| CN103895034A (en) * | 2014-04-15 | 2014-07-02 | 王光树 | Mechanical pulling rope |
| CN103895033A (en) * | 2014-04-15 | 2014-07-02 | 王光树 | Stretchable mechanical arm |
| CN104843610A (en) * | 2015-05-18 | 2015-08-19 | 宁波海迈克动力科技有限公司 | Electric yeast stirring forklift used in brewing yeast making industry |
| CN104986699A (en) * | 2015-05-18 | 2015-10-21 | 宁波海迈克动力科技有限公司 | Net cage positioning and clamping device and positioning and clamping method |
| CN106903684A (en) * | 2017-04-26 | 2017-06-30 | 河北工业大学 | Truss manipulator based on planet circular system |
| CN107478789A (en) * | 2017-09-01 | 2017-12-15 | 合肥今越制药有限公司 | One kind detection ROX special inspecting equipment |
| CN108247657A (en) * | 2018-02-06 | 2018-07-06 | 健芮智能科技（昆山）有限公司 | Robot clamping jaw device and robot |
| CN108818196A (en) * | 2018-06-29 | 2018-11-16 | 徐诗琪 | A kind of SMT laser template polishing clamp |
| CN109278033A (en) * | 2018-10-22 | 2019-01-29 | 亿嘉和科技股份有限公司 | A kind of forward backward rotation force-increasing mechanism of anti-reverse impact |
| EP3199307B1 (en) * | 2016-01-28 | 2020-07-01 | PHD, Inc. | Synchronizing mechanism for gripper jaws |
| CN112850074A (en) * | 2020-12-28 | 2021-05-28 | 常州君合表面涂覆工程有限公司 | Full-automatic feeding and processing device of shot blasting machine |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CS227944B1 (en) * | 1982-10-07 | 1984-05-14 | Ladislav Jurec | Gripper of manipulator with chain drive of jaws |
| JPH11347979A (en) * | 1998-06-08 | 1999-12-21 | Japan Servo Co Ltd | Gripping device |
| CN2883257Y (en) * | 2006-02-25 | 2007-03-28 | 康承国 | Pipe chain conveyer |
| CN201214244Y (en) * | 2008-05-19 | 2009-04-01 | 昆明理工大学 | Parallel holding paw for robot |
| US20100096870A1 (en) * | 2007-08-21 | 2010-04-22 | Mohsen Saadat | Gripper mechanism with split driveshaft for a gripping finger |
| CN202399263U (en) * | 2012-02-01 | 2012-08-29 | 昆山华恒焊接股份有限公司 | Manipulator device |
-
2012
- 2012-02-01 CN CN201210022293.4A patent/CN102717378B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CS227944B1 (en) * | 1982-10-07 | 1984-05-14 | Ladislav Jurec | Gripper of manipulator with chain drive of jaws |
| JPH11347979A (en) * | 1998-06-08 | 1999-12-21 | Japan Servo Co Ltd | Gripping device |
| CN2883257Y (en) * | 2006-02-25 | 2007-03-28 | 康承国 | Pipe chain conveyer |
| US20100096870A1 (en) * | 2007-08-21 | 2010-04-22 | Mohsen Saadat | Gripper mechanism with split driveshaft for a gripping finger |
| CN201214244Y (en) * | 2008-05-19 | 2009-04-01 | 昆明理工大学 | Parallel holding paw for robot |
| CN202399263U (en) * | 2012-02-01 | 2012-08-29 | 昆山华恒焊接股份有限公司 | Manipulator device |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103692437A (en) * | 2013-12-30 | 2014-04-02 | 济南翼菲自动化科技有限公司 | Novel grabbing manipulator |
| CN103895034A (en) * | 2014-04-15 | 2014-07-02 | 王光树 | Mechanical pulling rope |
| CN103895033A (en) * | 2014-04-15 | 2014-07-02 | 王光树 | Stretchable mechanical arm |
| CN104843610A (en) * | 2015-05-18 | 2015-08-19 | 宁波海迈克动力科技有限公司 | Electric yeast stirring forklift used in brewing yeast making industry |
| CN104986699A (en) * | 2015-05-18 | 2015-10-21 | 宁波海迈克动力科技有限公司 | Net cage positioning and clamping device and positioning and clamping method |
| CN104843610B (en) * | 2015-05-18 | 2017-03-08 | 宁波海迈克动力科技有限公司 | A kind of bent fork truck is turned over for the electronic of starter-making industry of making wine |
| EP3199307B1 (en) * | 2016-01-28 | 2020-07-01 | PHD, Inc. | Synchronizing mechanism for gripper jaws |
| CN106903684A (en) * | 2017-04-26 | 2017-06-30 | 河北工业大学 | Truss manipulator based on planet circular system |
| CN107478789A (en) * | 2017-09-01 | 2017-12-15 | 合肥今越制药有限公司 | One kind detection ROX special inspecting equipment |
| CN108247657A (en) * | 2018-02-06 | 2018-07-06 | 健芮智能科技（昆山）有限公司 | Robot clamping jaw device and robot |
| CN108818196A (en) * | 2018-06-29 | 2018-11-16 | 徐诗琪 | A kind of SMT laser template polishing clamp |
| CN108818196B (en) * | 2018-06-29 | 2021-01-29 | 瑞安市精质模具科技有限公司 | SMT laser template polishing clamp |
| CN109278033A (en) * | 2018-10-22 | 2019-01-29 | 亿嘉和科技股份有限公司 | A kind of forward backward rotation force-increasing mechanism of anti-reverse impact |
| CN112850074A (en) * | 2020-12-28 | 2021-05-28 | 常州君合表面涂覆工程有限公司 | Full-automatic feeding and processing device of shot blasting machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102717378B (en) | 2015-05-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202412277U (en) | Conveying robot system | |
| CN102717378A (en) | Manipulator device | |
| CN102699894A (en) | Transfer robot system | |
| US10281899B2 (en) | Mechanical bar conveying device | |
| CN102975193B (en) | Mechanical hand device capable of realizing horizontal conveyance along running beam for workpiece conveyance | |
| CN102642718B (en) | Track sucking disk type gripping device | |
| CN204369107U (en) | A kind of palletizing mechanical arm of five degree of freedom | |
| CN101506963B (en) | Double arm robot | |
| CN104555421A (en) | Five-degree of freedom stacking manipulator | |
| CN103143865A (en) | Flexible switching system for vehicle welding production line | |
| CN204018928U (en) | Tank body tig arc welding machine | |
| CN102837103A (en) | Automatic assembling and welding system based on three-dimensional laser vision | |
| CN204054077U (en) | A kind of transfer robot | |
| CN103224142A (en) | Automatic workpiece basketing and transmitting system | |
| CN103010764A (en) | Parallel rod stacker crane robot | |
| CN103482347B (en) | Automatic production conveyor line | |
| CN104384766B (en) | Portal robot bonding machine | |
| CN102039508B (en) | H-shape steel fitting up machine | |
| CN104816113A (en) | Three-freedom-level welding robot and control system thereof | |
| CN110919625A (en) | Three-dimensional orbital transfer device and method for rail-mounted robot | |
| CN202399263U (en) | Manipulator device | |
| CN103831445B (en) | Axletree pipeline | |
| CN107755940A (en) | Double-station welding device for box parts automatic welding flow production line | |
| CN206105266U (en) | Longmen jar body welding system of robot strides | |
| CN103668016A (en) | Servo drive system for aluminum alloy hub quenching |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |