CN102990662A - Novel mechanical hand mechanism - Google Patents

Novel mechanical hand mechanism Download PDF

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Publication number
CN102990662A
CN102990662A CN2012105279483A CN201210527948A CN102990662A CN 102990662 A CN102990662 A CN 102990662A CN 2012105279483 A CN2012105279483 A CN 2012105279483A CN 201210527948 A CN201210527948 A CN 201210527948A CN 102990662 A CN102990662 A CN 102990662A
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CN
China
Prior art keywords
crane
wheel
driven
driving wheel
manipulator
Prior art date
Application number
CN2012105279483A
Other languages
Chinese (zh)
Inventor
罗邦毅
Original Assignee
杭州永创智能设备股份有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority to CN201220526138.1 priority Critical
Priority to CN201220526138 priority
Application filed by 杭州永创智能设备股份有限公司 filed Critical 杭州永创智能设备股份有限公司
Priority to CN2012105279483A priority patent/CN102990662A/en
Publication of CN102990662A publication Critical patent/CN102990662A/en

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Abstract

The invention provides a novel mechanical hand mechanism comprising a left driving motor, a left driving wheel, a right driving wheel, a driven wheel group formed by four driven wheels, a part for connecting a mechanical hand, and a transmission belt or a chain, wherein the part for connecting the mechanical hand is connected onto a hoisting frame; the four driven wheels are arrayed in a rectangular shape; the hoisting frame is provided with a fifth driven wheel; the position of the fifth driven wheel is higher than that of the driven wheel group; the left driving wheel and the right driving wheel are respectively located on the left side and the right side of the driven wheel group; the transmission belt or the chain is connected with the hoisting frame or the part connected onto the hoisting frame, and a connecting part is lower than the driven wheel group; a moving-around route of the transmission belt or the chain passes through each driven wheel and each driving wheel to form a cross shape; and the four driven wheels are mounted on left and right sliding frames. According to the novel mechanical hand mechanism, in up-down and left-right movement processes of the novel mechanical hand mechanism, the left and right driving motors can work cooperatively to apply force together, so that the efficiency is improved, the operation speed is fast and the operation is stable.

Description

New-type manipulator mechanism

Technical field

The present invention relates to a kind of manipulator mechanism.

Background technology

In the manipulator mechanism of routine, manipulator mechanism up and down and move left and right by motor-driven independently separately, although the control of this class manipulator mechanism is simple, equal Shortcomings on efficient and the speed.

Summary of the invention

Technical problem to be solved by this invention provides a kind of new-type manipulator mechanism, and its efficient is high, speed is fast.For this reason, the present invention is by the following technical solutions: it comprises left drive motors and by the left driving wheel of its driving, right drive motors reaches the right driving wheel by its driving, four driven wheels that driven pulley consists of, the parts that connect manipulator, transport tape or chain, the parts that connect manipulator are connected on the crane, described four driven pulleys are respectively the lower-left wheel, the upper left wheel, the upper right wheel, the bottom right wheel, four rectangular arrangements of driven pulley, described crane is provided with the 5th driven pulley, the position of described the 5th driven pulley is higher than driven wheels, described left driving wheel and right driving wheel are in respectively the left side and the right of driven wheels, described transport tape or chain and crane or the parts that are connected on the crane are connected, and connecting portion is lower than driven wheels; The route that detours of described transport tape or chain is through above-mentioned each driven pulley and each driving wheel and form cross; Described four driven pulleys are installed on the frame that horizontally slips.

On the basis of adopting technique scheme, the present invention also can adopt following further technical scheme:

The present invention can be applicable to the manipulator of various difference in functionalitys, such as for delivery of manipulator, this kind manipulator can adopt handgrip, such as being sucker, clamp etc.; Perhaps, the function of described manipulator can be to finish certain operation, can adopt electric screwdriver such as described manipulator.

Described manipulator mechanism is provided with vertically-guided mechanism, and described vertically-guided mechanism is provided with the first sliding shoe and guide rail thereof, the first sliding shoe and guide rail thereof be divided into crane and the frame that horizontally slips on; Described manipulator mechanism is provided with left and right sides guiding mechanism, and described left and right sides guiding mechanism is provided with the second sliding shoe and guide rail thereof, and the second sliding shoe and guide rail thereof are divided on horizontally slip frame and the fixed mount.

On front and back position, both sides before and after crane and fixed mount are in, the frame that horizontally slips is between crane and the fixed mount.

Upper limit spare and lower limit part are installed on the described crane.

Described transport tape or chain have lower-left end and bottom righthand side, and described lower-left end and bottom righthand side connect respectively crane or be connected with parts on being connected to crane; The route that detours of described transport tape or chain is: from the lower-left end successively through lower-left wheel, left driving wheel, upper leftly take turns, the 5th driven pulley, upper rightly take turns, right driving wheel, bottom right wheel, bottom righthand side.

Owing to adopt technical scheme of the present invention, the present invention is in the moving up and down of manipulator mechanism, but left and right sides drive motors collaborative work, muck in has improved efficient, and the speed of service is soon and more stable.

Description of drawings

Fig. 1 is the schematic diagram of embodiment provided by the present invention.

Fig. 2 is the schematic diagram of another direction of embodiment provided by the present invention.

Fig. 3 is the explosive view of embodiment provided by the present invention.

Fig. 4 is the front view of embodiment provided by the present invention.

The specific embodiment

With reference to accompanying drawing.Described manipulator adopts handgrip in the present embodiment.

The present invention includes the left driving wheel 11 that left drive motors 1 reaches by its driving, the right driving wheel 21 that right drive motors 2 reaches by its driving, four driven wheels that driven pulley consists of, the parts 3 that connect handgrip, transport tape 4, the parts 3 that connect handgrip are connected on the crane 5, the parts 3 that connect handgrip can be connecting plates, any parts or mechanism that handgrip can be installed such as mount pad, described four driven pulleys are respectively lower-left wheel 61, upper leftly take turns 62, upper rightly take turns 63, bottom right wheel 64, their rectangular arrangements, its center of circle is in respectively four summits of rectangle, described crane 5 is provided with the 5th driven pulley 53, the position of described the 5th driven pulley 53 is higher than driven wheels, described left driving wheel 11 and right driving wheel 21 are in respectively the left side and the right of driven wheels, described transport tape 4 is connected with crane 5, perhaps be connected to crane on parts be connected, such as the parts 3 of described connection handgrip, and connecting portion is lower than driven wheels; The route that detours of described transport tape is through above-mentioned each driven pulley and each driving wheel and form cross 100; Described four driven pulleys 61,62,63,64 are installed on the frame 7 that horizontally slips; In the present embodiment, described transport tape has lower-left end 41 and bottom righthand side 42, and described lower-left end 41 is connected with bottom righthand side and is connected respectively crane 5 or be connected with parts on being connected to crane; The cross of the described transport tape route that detours is: from lower-left end 41 successively through lower-left wheel 61, left driving wheel 11, upper leftly take turns the 62, the 5th driven pulley 53, upper rightly take turns 63, right driving wheel 21, bottom right wheel 64, bottom righthand side 42.

Described handgrip mechanism is provided with vertically-guided mechanism, and described vertically-guided mechanism is provided with the first sliding shoe 81 and guide rail 82, the first sliding shoes 81 and guide rail 82 thereof thereof and is divided on horizontally slip frame 7 and the crane 5; Described handgrip mechanism is provided with left and right sides guiding mechanism, and described left and right sides guiding mechanism is provided with the second sliding shoe 83 and guide rail 84 thereof, and the second sliding shoe 83 and guide rail 84 thereof are divided on horizontally slip frame 7 and the fixed mount 9.The pedestal of described left drive motors 1 and right drive motors 2 also can be installed on the fixed mount 9.

Upper limit spare 51 and lower limit part 52 also are installed on described crane.

On front and back position, both sides before and after crane 5 and fixed mount 9 are in, the frame 7 that horizontally slips is between crane 5 and the fixed mount 9.

In force, motion before and after the present invention also can adopt in the above embodiment of the parallel stack of two covers: described motion comprises left driving wheel, right driving wheel, four described driven wheels, transport tape or chains that driven pulley consists of, described crane is provided with the 5th driven pulley, the position of described the 5th driven pulley is higher than driven wheels, described left driving wheel and right driving wheel are in respectively the left side and the right of driven wheels, described transport tape or chain and crane or the parts that are connected on the crane are connected, and connecting portion is lower than driven wheels; The route that detours of described transport tape or chain is through above-mentioned each driven pulley and each driving wheel and form cross; Described four driven pulleys are installed on the frame that horizontally slips.

Further, every cover motion also can be provided with vertically-guided mechanism, and described vertically-guided mechanism is provided with the first sliding shoe and guide rail thereof, the first sliding shoe and guide rail thereof be divided into crane and the frame that horizontally slips on; Described manipulator mechanism is provided with left and right sides guiding mechanism, and described left and right sides guiding mechanism is provided with the second sliding shoe and guide rail thereof, and the second sliding shoe and guide rail thereof are divided on horizontally slip frame and the fixed mount.

On front and back position, both sides before and after crane and fixed mount are in, the frame that horizontally slips is between crane and the fixed mount.

Upper limit spare and lower limit part are installed on the described crane.

In every cover motion, described transport tape or chain have lower-left end and bottom righthand side, and described lower-left end and bottom righthand side connect respectively crane or be connected with parts on being connected to crane; The route that detours of described transport tape or chain is: from the lower-left end successively through lower-left wheel, left driving wheel, upper leftly take turns, the 5th driven pulley, upper rightly take turns, right driving wheel, bottom right wheel, bottom righthand side.

In the present embodiment, in the above-mentioned motion of the parallel stack of front and back two covers, left driving wheel is coaxial, driven by same left drive motors, right driving wheel is coaxial, is driven by same right drive motors, the crane connection in the parts that connect manipulator and the above-mentioned motion of the parallel stack of front and back two covers, thereby can keep original advantage of the present invention, installation strength and the smoothness of parts that again can reinforced company's welding manipulator.

On the basis of present embodiment, principle according to present embodiment, the above-mentioned motion of the parallel stack of many covers before and after the present invention also can adopt, and drive each right driving wheel by same right drive motors, same left drive motors drives each left driving wheel, and the parts of connection manipulator are connected with the crane in each motion; The structure of each motion is the same.Like this, as long as power of motor is enough, the present invention can carry various large, heavy articles steadily, at high speed.

Claims (6)

1. new-type manipulator mechanism, it is characterized in that it comprises that left drive motors reaches the left driving wheel by its driving, right drive motors reaches the right driving wheel by its driving, four driven wheels that driven pulley consists of, the parts that connect manipulator, transport tape or chain, the parts that connect manipulator are connected on the crane, described four driven pulleys are respectively the lower-left wheel, the upper left wheel, the upper right wheel, the bottom right wheel, four rectangular arrangements of driven pulley, described crane is provided with the 5th driven pulley, the position of described the 5th driven pulley is higher than driven wheels, described left driving wheel and right driving wheel are in respectively the left side and the right of driven wheels, described transport tape or chain and crane or the parts that are connected on the crane are connected, and connecting portion is lower than driven wheels; The route that detours of described transport tape or chain is through above-mentioned each driven pulley and each driving wheel and form cross; Described four driven pulleys are installed on the frame that horizontally slips.
2. new-type manipulator mechanism as claimed in claim 1 is characterized in that described manipulator is handgrip.
3. new-type manipulator mechanism as claimed in claim 1 or 2, it is characterized in that described manipulator mechanism is provided with vertically-guided mechanism, described vertically-guided mechanism is provided with the first sliding shoe and guide rail thereof, the first sliding shoe and guide rail thereof be divided into crane and the frame that horizontally slips on; Described manipulator mechanism is provided with left and right sides guiding mechanism, and described left and right sides guiding mechanism is provided with the second sliding shoe and guide rail thereof, and the second sliding shoe and guide rail thereof are divided on horizontally slip frame and the fixed mount.
4. new-type manipulator mechanism as claimed in claim 3 is characterized in that on front and back position, both sides before and after crane and fixed mount are in, and the frame that horizontally slips is between crane and the fixed mount.
5. new-type manipulator mechanism as claimed in claim 1 or 2 is characterized in that being equipped with on the described crane upper limit spare and lower limit part.
6. new-type manipulator mechanism as claimed in claim 1 or 2 is characterized in that described transport tape or chain have lower-left end and bottom righthand side, and described lower-left end and bottom righthand side connect respectively crane or be connected with parts on being connected to crane; The route that detours of described transport tape or chain is: from the lower-left end successively through lower-left wheel, left driving wheel, upper leftly take turns, the 5th driven pulley, upper rightly take turns, right driving wheel, bottom right wheel, bottom righthand side.
CN2012105279483A 2012-10-15 2012-12-06 Novel mechanical hand mechanism CN102990662A (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201220526138.1 2012-10-15
CN201220526138 2012-10-15
CN2012105279483A CN102990662A (en) 2012-10-15 2012-12-06 Novel mechanical hand mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2012105279483A CN102990662A (en) 2012-10-15 2012-12-06 Novel mechanical hand mechanism

Publications (1)

Publication Number Publication Date
CN102990662A true CN102990662A (en) 2013-03-27

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CN2012105279483A CN102990662A (en) 2012-10-15 2012-12-06 Novel mechanical hand mechanism
CN 201220678014 CN203045727U (en) 2012-10-15 2012-12-06 Novel type mechanical arm mechanism

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Application Number Title Priority Date Filing Date
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Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102990662A (en) * 2012-10-15 2013-03-27 杭州永创智能设备股份有限公司 Novel mechanical hand mechanism
CN103862204B (en) * 2014-02-27 2016-04-20 江阴精力汽车装备有限公司 A kind of bumper grasping mechanism

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004020891A1 (en) * 2004-04-28 2005-11-24 Atlantic C Handels- Und Beratungs-Gmbh Compact handling system for bottles especially drinks bottles has a self supporting frame with overhead gantries to position at least three robotic handling units
CN201745768U (en) * 2010-06-24 2011-02-16 江阴纳尔捷机器人有限公司 Packer moving manipulator
CN102358447A (en) * 2011-09-21 2012-02-22 广州达意隆包装机械股份有限公司 Packing machine
CN102424131A (en) * 2011-08-25 2012-04-25 金坛市金旺包装科技有限公司 Square material transmission mechanical arm for automatic boxing machine
CN203045727U (en) * 2012-10-15 2013-07-10 杭州永创智能设备股份有限公司 Novel type mechanical arm mechanism

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004020891A1 (en) * 2004-04-28 2005-11-24 Atlantic C Handels- Und Beratungs-Gmbh Compact handling system for bottles especially drinks bottles has a self supporting frame with overhead gantries to position at least three robotic handling units
CN201745768U (en) * 2010-06-24 2011-02-16 江阴纳尔捷机器人有限公司 Packer moving manipulator
CN102424131A (en) * 2011-08-25 2012-04-25 金坛市金旺包装科技有限公司 Square material transmission mechanical arm for automatic boxing machine
CN102358447A (en) * 2011-09-21 2012-02-22 广州达意隆包装机械股份有限公司 Packing machine
CN203045727U (en) * 2012-10-15 2013-07-10 杭州永创智能设备股份有限公司 Novel type mechanical arm mechanism

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Application publication date: 20130327

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