CN104786210B - A kind of mechanical hand for robot of casing - Google Patents

A kind of mechanical hand for robot of casing Download PDF

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Publication number
CN104786210B
CN104786210B CN201510208013.2A CN201510208013A CN104786210B CN 104786210 B CN104786210 B CN 104786210B CN 201510208013 A CN201510208013 A CN 201510208013A CN 104786210 B CN104786210 B CN 104786210B
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CN
China
Prior art keywords
large arm
decelerator
robot
main shaft
rod
Prior art date
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Expired - Fee Related
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CN201510208013.2A
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Chinese (zh)
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CN104786210A (en
Inventor
刘远强
曾向华
谭国文
李明明
高翔
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
FOSHAN VANTA ROBOT TECHNOLOGY Co Ltd
Original Assignee
FOSHAN VANTA ROBOT TECHNOLOGY Co Ltd
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Priority to CN201510208013.2A priority Critical patent/CN104786210B/en
Publication of CN104786210A publication Critical patent/CN104786210A/en
Application granted granted Critical
Publication of CN104786210B publication Critical patent/CN104786210B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The present invention relates to a kind of mechanical hand for robot of casing, including electric machine assembly, large arm, forearm, swing arm, drive rod, master connecting-rod and slave connecting rod, described electric machine assembly includes mounting seat, motor and main shaft, described mounting seat two ends are separately installed with motor, described motor is connected to decelerator, is provided with main shaft between two described decelerators;Logical the fixing with decelerator in described large arm side is connected, and described large arm opposite side is connected with decelerator by large arm bearing and large arm bearing block, and described large arm one end is connected by countershaft forearm.The mechanical hand for robot of casing of the present invention uses unique dual-servo-motor to drive, and compact conformation is novel, stable, movement locus is adjustable, agile, and it is convenient that regulation controls high efficient and flexible, it is the core component of vanning robot, improves production efficiency, reduce production cost.

Description

A kind of mechanical hand for robot of casing
Technical field
This relates to a kind of mechanical hand, particularly relates to a kind of mechanical hand for robot of casing.
Background technology
At present, the vanning of major part bottle is to complete by manpower, cases by manpower, and efficiency is low, it is impossible to meet the demand produced in enormous quantities, and production cost is high, and in order to meet the demand of production, people have developed boxing apparatus, replaces manpower to complete this work with machine.Wherein, vanning robot has been widely used in the industry such as logistics, warehouse the most, and it saves manpower, simple to operate, boxing efficiency high is increasingly subject to liking of enterprise.
Traditional vanning robot architecture is complicated, the equipment speed of service compared with slow, precision is low, fault rate is high, poor stability, energy consumption high, maintenance cost is high, floor space is big, transports and install inconvenience, and the scope of application is limited to very much, and boxing efficiency is low, and production cost is high.Therefore, in order to adapt to the demand in market, it is badly in need of releasing one and gathers special vanning robot multi-functional, all-in-one-piece.
Wherein, mechanical hand is one of core component of vanning robot, the height of its structure and performance will directly affect the performance of integral device, traditional mechanical type grappling fixture exists that the speed of service is slow, precision is low, poor stability, efficiency is low, regulation control is dumb waits deficiency, it is therefore necessary to design a kind of novel mechanical hand for robot of casing.
Summary of the invention
It is an object of the invention to provide a kind of dual-servo-motor driving, compact conformation, novel, stable, movement locus is adjustable, agile, and regulation controls high efficient and flexible and is conveniently used for the mechanical hand of vanning robot.
For achieving the above object, the present invention provides following technical scheme:
A kind of mechanical hand for robot of casing, including electric machine assembly, large arm, forearm, swing arm, drive rod, master connecting-rod and slave connecting rod, described electric machine assembly includes mounting seat, motor and main shaft, described mounting seat two ends are separately installed with motor, described motor is connected to decelerator, being provided with main shaft between two described decelerators, described main shaft one end is connected with the decelerator of one end by main shaft bearing, and the described main shaft other end is connected by bolt is fixing with the decelerator of the other end;
The side of described large arm head end is fixed by bolt and decelerator and is connected, described large arm head end another
Side is connected with decelerator by large arm bearing and large arm bearing block, and described large arm one end is connected by countershaft has forearm, forearm end to be provided with square shaft;
Described swing arm is separately mounted to described main shaft two ends, and swing arm one end connects has drive rod, the drive rod other end to be connected with forearm;Described master connecting-rod one end is connected with described mounting seat, the master connecting-rod other end is connected with one jiao of end of set square, and described set square is arranged on described countershaft end, and another angle end of set square connects slave connecting rod, slave connecting rod one end connects has connecting plate, described connecting plate one end to be arranged on square shaft end.
Further, described square shaft two ends are provided with fixture mounting seat.
Further, described swing arm is connected by expansion sleeve with described main shaft.
Further, described mounting seat is provided with limited block.
Further, described decelerator is provided with spacing ring.
It is compared with the prior art, the invention has the beneficial effects as follows:
(1) mechanical hand for robot of casing of the present invention uses unique dual-servo-motor to drive, by two motors connection reducer respectively, wherein one end decelerator is directly connected with large arm, directly drive the rotation of large arm, and then connect forearm by large arm, and drive the rotation of forearm, other end decelerator is directly connected with main shaft, directly drive shaft, by expansion sleeve, swing arm is installed on main shaft, swing arm is connected with drive rod again, drive rod is connected with forearm again, thus realize being controlled the rotation of forearm by swing arm, unique dual-servo-motor is used to drive, compact conformation, stable, agile, regulation controls high efficient and flexible, very convenient.
(2) mechanical hand for robot of casing of the present invention coordinates control large arm and the rotation of forearm by arranging master connecting-rod, set square and slave connecting rod, rational in infrastructure, designs ingenious novelty, coordinates closely, adjustable movement track.
(3) the mechanical hand regulation for robot of casing of the present invention controls high efficient and flexible conveniently, is the core component of vanning robot, improves production efficiency, reduce production cost.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in describing below is only some embodiments of the present invention, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the present invention overall structure schematic diagram for the mechanical hand of robot of casing;
Fig. 2 is the present invention partial cutaway structural representation for the mechanical hand of robot of casing;
Fig. 3 is the partial structurtes schematic diagram of Fig. 2;
Fig. 4 is the side view of Fig. 2;
Fig. 5 is described motor component structure schematic diagram.
Detailed description of the invention
Although the present invention is described by reference to specific embodiment, but after those skilled in the art are by reading foregoing description, the present invention can be made obvious amendment and modify, and without prejudice to the intent of the present invention and essence.The present invention has a mind to be included within the scope of the claims these amendments and modification.
nullA kind of mechanical hand for robot of casing,As shown in Figures 1 to 5,Including electric machine assembly 1、Large arm 2、Forearm 3、Swing arm 4、Drive rod 5 and master connecting-rod 6,Described electric machine assembly 1 includes mounting seat 11、Motor 12 and main shaft 13,It is provided with limited block 14 in the back plate of described mounting seat 11,For limiting rotation amplitude,Described mounting seat 11 two ends are separately installed with motor 12,Described motor 12 is connected to decelerator 15,On described decelerator 15, spacing ring 16 is installed,For limiting rotation amplitude,Between two described decelerators 15, main shaft 13 is installed,Described main shaft 13 one end is connected with the decelerator 15 of one end by main shaft bearing 131 and spindle bearing holder 132,Main shaft bearing 131 is arranged in spindle bearing holder 132,Main shaft bearing 131 and spindle bearing holder 132 play a supportive role,Ensure that main shaft 13 rotates smoothly,Described main shaft 13 other end is connected by bolt 133 is fixing with the decelerator 15 of the other end,It is connected by directly fixing with one speed reducer 15,Main shaft 13 is made directly to be driven rotation by decelerator 15,Drive efficiency is high,The main described axle 13 two ends decelerator 15 that opposite ends is different respectively,One end ensures smooth rotation,The other end directly drives,Reasonable in design.
The side of described large arm 2 head end is connected by bolt is fixing with decelerator 15, straight by decelerator 15
Tape splicing moves large arm 2 and rotates, and drive efficiency is high, and the opposite side of described large arm 2 head end is connected with decelerator 15 by large arm bearing 21 and large arm bearing block 22, and large arm bearing 21 and large arm bearing block 22 install supporting role.Described large arm 2 one end is connected by countershaft 23 has forearm 3, forearm 3 end to be provided with square shaft 31, and described square shaft 31 two ends are provided with fixture mounting seat 32.
Described swing arm 4 is separately mounted to described main shaft 13 two ends by expansion sleeve 41, and swing arm 4 one end is even
Being connected to drive rod 5, drive rod 5 other end is connected with forearm 3, main shaft 13 drive the rotation of swing arm 4, and then be adjusted described forearm 3 controlling.
Described master connecting-rod 6 one end is connected with described mounting seat 11, master connecting-rod 6 other end is connected with one jiao of end of set square 7, described set square 7 is arranged on described countershaft 23 end, another angle end of set square 7 connects slave connecting rod 8, slave connecting rod 8 one end connects has connecting plate 9, described connecting plate 9 one end to be arranged on square shaft 31 end.
The mechanical hand for robot of casing of the present invention uses unique dual-servo-motor to drive, by being respectively mounted motor 12 at the two ends of mounting seat 11, two motor 12 connection reducers 15 respectively, wherein one end decelerator 15 is directly connected with large arm 2, directly drive the rotation of large arm 2, and then connect forearm 3 by large arm 2, and drive the rotation of forearm 3, other end decelerator 15 is directly connected with main shaft 13, directly drive shaft 13, by expansion sleeve 41, swing arm 4 is installed on main shaft 13, swing arm 4 is connected with drive rod 5 again, drive rod 5 is connected with forearm 3 again, thus realize being controlled the rotation of forearm 3 by swing arm 4, additionally, the present invention is also by arranging master connecting-rod 6, set square 7 and slave connecting rod 8 coordinate control large arm 2 and the rotation of forearm 3, reasonable structure design is ingenious.The present invention uses the dual-servo-motor of uniqueness to drive, compact conformation, and novel, stable, movement locus is adjustable, agile, and it is convenient that regulation controls high efficient and flexible, is the core component of vanning robot, improves production efficiency, reduce production cost.
The above; it is only the present invention preferably detailed description of the invention; but protection scope of the present invention is not limited thereto; any those familiar with the art is in the technical scope that the invention discloses; according to technical scheme and inventive concept equivalent or change in addition thereof, all should contain within protection scope of the present invention.

Claims (5)

1. the mechanical hand for robot of casing, it is characterized in that: include electric machine assembly, large arm, forearm, swing arm, drive rod, master connecting-rod and slave connecting rod, described electric machine assembly includes mounting seat, motor and main shaft, described mounting seat two ends are separately installed with motor, two ends motor is connected to decelerator, between two described decelerators, main shaft is installed, described main shaft one end is connected with the decelerator of one end by main shaft bearing, and the described main shaft other end is connected by bolt is fixing with the decelerator of the other end;
The side of described large arm head end is connected by bolt and decelerator are fixing, and the opposite side of described large arm head end is connected with decelerator by large arm bearing and large arm bearing block, and described large arm one end is connected by countershaft has forearm, forearm end to be provided with square shaft;
Described swing arm is separately mounted to described main shaft two ends, and swing arm one end connects has drive rod, the drive rod other end to be connected with forearm;
Described master connecting-rod one end is connected with described mounting seat, the master connecting-rod other end is connected with one jiao of end of set square, and described set square is arranged on described countershaft end, and another angle end of set square connects slave connecting rod, slave connecting rod one end connects has connecting plate, described connecting plate one end to be arranged on square shaft end.
2. the mechanical hand for robot of casing as claimed in claim 1, it is characterised in that described square shaft two ends are provided with fixture mounting seat.
3. the mechanical hand for robot of casing as claimed in claim 1, it is characterised in that described swing arm is connected by expansion sleeve with described main shaft.
4. the mechanical hand for robot of casing as claimed in claim 1, it is characterised in that be provided with limited block in described mounting seat.
5. the mechanical hand for robot of casing as claimed in claim 1, it is characterised in that be provided with spacing ring on described decelerator.
CN201510208013.2A 2015-04-29 2015-04-29 A kind of mechanical hand for robot of casing Expired - Fee Related CN104786210B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510208013.2A CN104786210B (en) 2015-04-29 2015-04-29 A kind of mechanical hand for robot of casing

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510208013.2A CN104786210B (en) 2015-04-29 2015-04-29 A kind of mechanical hand for robot of casing

Publications (2)

Publication Number Publication Date
CN104786210A CN104786210A (en) 2015-07-22
CN104786210B true CN104786210B (en) 2016-12-07

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Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112440332A (en) * 2020-09-25 2021-03-05 杜艳华 Plastic water bottle perforating machine

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013104417A1 (en) * 2012-01-11 2013-07-18 Abb Research Ltd An industrial robot for high payload
CN103010764B (en) * 2012-12-19 2016-05-04 广州市万世德包装机械有限公司 One parallel bar stacking machine robot
CN103213839B (en) * 2013-02-28 2016-01-20 钟昀晖 A kind of forging industry is selected materials clamping transportation industrial robot
CN203510210U (en) * 2013-08-28 2014-04-02 东莞市瓦力智能科技有限公司 Light palletizing robot
CN203542602U (en) * 2013-11-26 2014-04-16 昆山福尔瑞精密模具有限公司 Mechanical arm
CN203875678U (en) * 2014-04-16 2014-10-15 沈亚旭 Feeding and discharging manipulator
CN204604317U (en) * 2015-04-29 2015-09-02 佛山市万世德机器人技术有限公司 A kind of manipulator for robot of casing

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