CN103522292A - Bearing carrying mechanical arm - Google Patents
Bearing carrying mechanical arm Download PDFInfo
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- CN103522292A CN103522292A CN201310459640.4A CN201310459640A CN103522292A CN 103522292 A CN103522292 A CN 103522292A CN 201310459640 A CN201310459640 A CN 201310459640A CN 103522292 A CN103522292 A CN 103522292A
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- arm
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- side plate
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Abstract
The invention relates to a mechanical arm, and discloses a bearing carrying mechanism arm. A swinging main arm is located on the lower side of a swinging auxiliary arm and is parallel to the swinging auxiliary arm. A transverse arm rotating base is connected with a rotating arm through a rotating arm main shaft. The rotating arm can rotate by 300 degrees, a locking mechanism II is arranged between the rotating arm and the transverse arm rotating base, the tail end of the rotating arm is provided with a vertical arm rotating base which can rotate by 360 degrees, the vertical arm rotating base is connected with an auxiliary rotating shaft which is connected with a lower vertical arm, and the lower vertical arm is provided with a turnable air cylinder which can be turned by 90 degrees. By means of the bearing carrying mechanical arm, the workload of a worker is reduced, random moving and accurate positioning are guaranteed when a workpiece is connected in a butt joint mode, the damage caused by collision when the workpiece is assembled is avoided, operation is convenient and flexible, and movement is saving in labor, efficient and safe.
Description
Technical field
The present invention relates to a kind of manipulator, particularly a kind of bearing conveying robot.
Background technology
Since reform and opening-up, national economy rapid growth, scientific and technical innovation, autonomous innovation have become the main flow of domestic industry development, and China's industry is just progressively to the future development of intensive style, energy-saving and emission-reduction, low-carbon (LC).Because manipulator provides very good assist transportation and assembling tool for rolling off the production line on material and producing article assembling, can complete the three dimensions move loading actions such as weight crawl, carrying, upset, docking, vernier angle, thereby be widely used in industrial production.Manipulator can partly substitute people's heavy work to realize mechanization and the automation of producing, under the easy manipulation of operator, can complete many complex work of automatic robot, and production and use cost greatly reduce, the scope of application is also extensive simultaneously, and flexibility and mobility are larger.Domestic prior art is generally the plane manipulator of a dead lift or cross beam type for bearing carrying, and hand labor intensity is large, under operating efficiency.The underaction and plane manipulator seems to a certain extent, operation accuracy and operating efficiency are lower.The technical staff of R&D institution and enterprise is constantly exploring, is studying, and wishes to develop a kind of manipulator of easy to operate, superior performance, although make some progress, still exists the technical barrier not yet overcoming in practice.
Summary of the invention
The object of the invention is to overcome above deficiency, a kind of bearing conveying robot is provided, for controlling the motion modes such as the lifting of bearing, flexible, rotation, improved workman's working condition.
The technical solution adopted for the present invention to solve the technical problems is: contain base, column, main lift cylinder, main rotating seat, main rotating shaft, retaining mechanism I, large side plate, swing principal arm, swing auxiliary, connecting plate, transverse arm rotating seat, retaining mechanism II, turning arm, plumbing arm rotating seat, secondary rotating shaft, lower plumbing arm, fixture, guide rod, operating handle, upset cylinder, column fixes on the ground by base, column top is provided with main rotating seat, rotatable 360 °, main rotating seat is connected with large side plate by main rotating shaft, in large side plate, be provided with pneumatic control valve, pneumatic control valve is connected with main lift cylinder, lower end, large side plate left side is provided with main lift cylinder, large side plate is provided with interior plate, between main rotating seat and large side plate, be provided with retaining mechanism I, swinging principal arm is connected with large side plate respectively with swing auxiliary one end, the other end is connected with connecting plate respectively, swinging principal arm is positioned at swing auxiliary downside and parallels with swing auxiliary, transverse arm rotating seat is connected with turning arm by turning arm main shaft, rotatable 300 ° of turning arm, between turning arm and transverse arm rotating seat, be provided with retaining mechanism II, turning arm end is provided with plumbing arm rotating seat, rotatable 360 °, plumbing arm rotating seat is connected with secondary rotating shaft, secondary rotating shaft is connected with lower plumbing arm, lower plumbing arm is provided with upset cylinder, turning 90 °, for grabbing the fixture of folder workpiece, by guide rod, be connected with lower plumbing arm end with upset cylinder, lower plumbing arm inner side is provided with operating handle, operating handle is provided with computer controling box.
The present invention solves the know-why that its technical problem adopts: this manipulator adopts equilibrium of forces principle and air pressure control principle is designed in conjunction forms, by detecting gas pressure in arm end fixture and telescopic cylinder, can automatically identify and on mechanical arm, have no-load, and automatically adjust the air pressure in telescopic cylinder through pneumatic logic control loop, reach self balancing object.During work, weight is aerial just as being suspended in, the collision in the time of can avoiding product docking.In the working range of mechanical arm, operator can be moved to optional position in three dimensions, and personnel itself can easy manipulation.Meanwhile, pneumatic circuit prevents that maloperation from falling the interlock protection functions such as thing and o-volt protection in addition.Operating handle is provided with personal computer control box, and computer controling box is controlled upset cylinder, realizes the upset of fixture within the scope of 90 °.This manipulator makes operator at fundamental sensation less than object gravity in the situation that, easily completes the operation such as carrying, upset, assembling of bearing, simple to operate, operate laborsaving, highly effective and safe.Column top is provided with main rotating seat, can realize the principal rotating motion of manipulator, and the workpiece within the scope of 360 ° is around operated.
The invention has the beneficial effects as follows: this manipulator designs according to ergonomics, with the tractive force of operator up and down all around the automatic frame of three dimensions survey operation, alleviate workman's work load, flexible to operation, increase work efficiency.Random mobile accurately location while guaranteeing workpiece docking, the damage having produced due to collision while having avoided workpiece assembling.Workpiece is in zero-g suspended state, makes operating personnel at fundamental sensation less than object gravity in the situation that, easily completes the operation such as carrying, upset, assembling of bearing, simple to operate, operate laborsaving, highly effective and safe.
Accompanying drawing explanation
That the invention will be further described in conjunction with the accompanying drawings and embodiments below:
It in figure, is a kind of bearing conveying robot structural representation.
In the drawings, 1 base, 2 columns, 3 main lift cylinders, 4 main rotating seats, 5 main rotating shafts, 6 retaining mechanism I, 7 large side plates, 8 swing principal arms, 9 and swing auxiliarys, 10 connecting plates, 11 transverse arm rotating seats, 12 retaining mechanism II, 13 turning arms, 14 plumbing arm rotating seats, 15 secondary rotating shafts, 16 times plumbing arms, 17 fixtures, 18 guide rods, 19 operating handles, 20 upset cylinders.
The specific embodiment
In the drawings, a kind of bearing conveying robot, column 2 fixes on the ground by base 1, column 2 tops are provided with main rotating seat 4, rotatable 360 °, main rotating seat 4 is connected with large side plate 7 by main rotating shaft 5, in large side plate 7, be provided with pneumatic control valve, pneumatic control valve is connected with main lift cylinder 3, large side plate 7 lower ends, left side are provided with main lift cylinder 3, large side plate 7 is provided with interior plate, between main rotating seat 4 and large side plate 7, be provided with retaining mechanism I6, swinging principal arm 8 is connected with large side plate 7 respectively with swing auxiliary 9 one end, the other end is connected with connecting plate 10 respectively, swinging principal arm 8 is positioned at swing auxiliary 9 downsides and parallels with swing auxiliary 9, transverse arm rotating seat 11 is connected with turning arm 13 by turning arm main shaft, rotatable 300 ° of turning arm 13, between turning arm 13 and transverse arm rotating seat 11, be provided with retaining mechanism II12, turning arm 13 ends are provided with plumbing arm rotating seat 14, rotatable 360 °, plumbing arm rotating seat 14 is connected with secondary rotating shaft 15, secondary rotating shaft 15 is connected with lower plumbing arm 16, lower plumbing arm 16 is provided with upset cylinder 20, turning 90 °, for grabbing the fixture 17 of folder workpiece, by guide rod 18, be connected with lower plumbing arm 16 ends with upset cylinder 20, lower plumbing arm 16 inner sides are provided with operating handle 19, operating handle 19 is provided with computer controling box.
This manipulator adopts equilibrium of forces principle and air pressure control principle is designed in conjunction forms, by detecting gas pressure in arm end fixture and telescopic cylinder, can automatically identify and on mechanical arm, have no-load, and automatically adjust the air pressure in telescopic cylinder through pneumatic logic control loop, reach self balancing object.During work, weight is aerial just as being suspended in, the collision in the time of can avoiding product docking.In the working range of mechanical arm, operator can be moved to optional position in three dimensions, and personnel itself can easy manipulation.Meanwhile, pneumatic circuit prevents that maloperation from falling the interlock protection functions such as thing and o-volt protection in addition.Operating handle 19 is provided with personal computer control box, and computer controling box is controlled upset cylinder 20, realizes the upset of fixture within the scope of 90 °.This manipulator makes operator at fundamental sensation less than object gravity in the situation that, easily completes the operation such as carrying, upset, assembling of bearing, simple to operate, operate laborsaving, highly effective and safe.Column 2 tops are provided with main rotating seat 4, can realize the principal rotating motion of manipulator, and the workpiece within the scope of 360 ° is around operated.
Claims (1)
1. a bearing conveying robot, contains base, column, main lift cylinder, main rotating seat, main rotating shaft, retaining mechanism I, large side plate, swing principal arm, swing auxiliary, connecting plate, transverse arm rotating seat, retaining mechanism II, turning arm, plumbing arm rotating seat, secondary rotating shaft, lower plumbing arm, fixture, guide rod, operating handle, upset cylinder, it is characterized in that: column fixes on the ground by base, column top is provided with main rotating seat, rotatable 360 °, main rotating seat is connected with large side plate by main rotating shaft, in large side plate, be provided with pneumatic control valve, pneumatic control valve is connected with main lift cylinder, lower end, large side plate left side is provided with main lift cylinder, large side plate is provided with interior plate, between main rotating seat and large side plate, be provided with retaining mechanism I, swinging principal arm is connected with large side plate respectively with swing auxiliary one end, the other end is connected with connecting plate respectively, swinging principal arm is positioned at swing auxiliary downside and parallels with swing auxiliary, transverse arm rotating seat is connected with turning arm by turning arm main shaft, rotatable 300 ° of turning arm, between turning arm and transverse arm rotating seat, be provided with retaining mechanism II, turning arm end is provided with plumbing arm rotating seat, rotatable 360 °, plumbing arm rotating seat is connected with secondary rotating shaft, secondary rotating shaft is connected with lower plumbing arm, lower plumbing arm is provided with upset cylinder, turning 90 °, for grabbing the fixture of folder workpiece, by guide rod, be connected with lower plumbing arm end with upset cylinder, lower plumbing arm inner side is provided with operating handle, operating handle is provided with computer controling box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310459640.4A CN103522292A (en) | 2013-10-08 | 2013-10-08 | Bearing carrying mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310459640.4A CN103522292A (en) | 2013-10-08 | 2013-10-08 | Bearing carrying mechanical arm |
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| Publication Number | Publication Date |
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| CN103522292A true CN103522292A (en) | 2014-01-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310459640.4A Pending CN103522292A (en) | 2013-10-08 | 2013-10-08 | Bearing carrying mechanical arm |
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| CN (1) | CN103522292A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104973417A (en) * | 2015-07-07 | 2015-10-14 | 昆山康斯特精密机械有限公司 | Hub first-generation bearing clamping-free turnover mechanism |
| CN105540288A (en) * | 2016-02-17 | 2016-05-04 | 西南交通大学 | Loading and unloading booster unit |
| CN107813118A (en) * | 2017-10-26 | 2018-03-20 | 湖北慧点科技股份有限公司 | A kind of luffing mechanism assembled automatically for touch-screen and operating method |
| CN108032332A (en) * | 2017-12-05 | 2018-05-15 | 河海大学常州校区 | A kind of bent axle conveying robot |
| CN108482333A (en) * | 2018-04-20 | 2018-09-04 | 力帆实业(集团)股份有限公司 | Electric vehicle changes the rear floor battery taking and placing mechanism of electromechanical arm |
| CN112171652A (en) * | 2020-08-10 | 2021-01-05 | 江苏悦达投资股份有限公司 | Rotatable clamping power-assisted manipulator |
| CN112207797A (en) * | 2020-10-09 | 2021-01-12 | 合肥中力自动化设备有限公司 | High-stability carrying assisting manipulator |
| CN114763219A (en) * | 2021-01-11 | 2022-07-19 | 颍上县郭氏宝发米业有限公司 | Handling device for grain purchasing station |
-
2013
- 2013-10-08 CN CN201310459640.4A patent/CN103522292A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104973417A (en) * | 2015-07-07 | 2015-10-14 | 昆山康斯特精密机械有限公司 | Hub first-generation bearing clamping-free turnover mechanism |
| CN104973417B (en) * | 2015-07-07 | 2018-03-30 | 昆山康斯特精密机械有限公司 | Wheel hub generation bearing does not clamp turning over mechanism |
| CN105540288A (en) * | 2016-02-17 | 2016-05-04 | 西南交通大学 | Loading and unloading booster unit |
| CN107813118A (en) * | 2017-10-26 | 2018-03-20 | 湖北慧点科技股份有限公司 | A kind of luffing mechanism assembled automatically for touch-screen and operating method |
| CN108032332A (en) * | 2017-12-05 | 2018-05-15 | 河海大学常州校区 | A kind of bent axle conveying robot |
| CN108482333A (en) * | 2018-04-20 | 2018-09-04 | 力帆实业(集团)股份有限公司 | Electric vehicle changes the rear floor battery taking and placing mechanism of electromechanical arm |
| CN112171652A (en) * | 2020-08-10 | 2021-01-05 | 江苏悦达投资股份有限公司 | Rotatable clamping power-assisted manipulator |
| CN112207797A (en) * | 2020-10-09 | 2021-01-12 | 合肥中力自动化设备有限公司 | High-stability carrying assisting manipulator |
| CN112207797B (en) * | 2020-10-09 | 2023-02-03 | 合肥中力自动化设备有限公司 | High-stability carrying assisting manipulator |
| CN114763219A (en) * | 2021-01-11 | 2022-07-19 | 颍上县郭氏宝发米业有限公司 | Handling device for grain purchasing station |
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Legal Events
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| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20140122 |