CN105150202A - Grabbing mechanism of material taking mechanical arm - Google Patents
Grabbing mechanism of material taking mechanical arm Download PDFInfo
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- CN105150202A CN105150202A CN201510636755.5A CN201510636755A CN105150202A CN 105150202 A CN105150202 A CN 105150202A CN 201510636755 A CN201510636755 A CN 201510636755A CN 105150202 A CN105150202 A CN 105150202A
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- China
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- grabbing mechanism
- grasping mechanism
- upper portions
- transverse slat
- support arm
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Abstract
The invention relates to the technical field of mechanical workpiece machining, in particular to a grabbing mechanism of a material taking mechanical arm. Connecting frames are arranged on the sides, close to telescopic mechanism servo motors, of the upper portions of cross plates, and bearing blocks are fixed to the ends of the other sides of the upper portions of the cross plates. Grabbing mechanism speed reducers and grabbing mechanism servo motors which are connected are arranged at the upper portions of the connecting frames in sequence. First synchronous wheels connected with the grabbing mechanism speed reducers are connected with second synchronous wheels through second synchronous belts, and the second synchronous wheels are arranged at the upper portions of the bearing blocks. The tops of second bearings in the bearing blocks are connected with the second synchronous wheels, and the bottoms of the second bearings are connected with supporting arm plates. Each supporting arm plate is connected with four supporting arms. Suction cup bases are arranged at the ends of the supporting arms. Organ suction cups are arranged at the bottoms of the suction cup bases. By means of work of the grabbing mechanism servo motors, rotation of the supporting arm plates is achieved to drive workpieces sucked by the organ suction cups to rotate. Equipment is compact in overall structure and easy and convenient to control, and precise control over any position can be achieved.
Description
Technical field
The present invention relates to mechanical workpieces processing technique field, specifically relate to a kind of reclaimer robot grasping mechanism.
Background technology
In the mechanically actuated processes such as such as punch process, the application of reclaimer robot is very extensive.Its major function show by piece-holder, put into diel and punching press complete after by workpiece taking-up etc., perfectly can replace manual operation, not only production efficiency is significantly improved, and production security obtains higher degree and ensures.
But because the design principle of such manipulator on market is different, also there is bigger difference in its structure, in actual application, usually there is following defect: rotating mechanism control performance is poor, rotates inconvenience or excessively rotate, cannot meet Production requirement.The adjustment of elevating mechanism cannot meet work on the spot environmental demand, namely cannot reach the requirement for height of manipulator clamping, therefore, can not meet the clamping demand of highly different processing environment.The adjustment of telescoping mechanism cannot freely control, and action is too stiff, to such an extent as to cannot well be held by workpiece.Grasping mechanism cannot firmly be firmly grasped or suck, and workpiece easily drops, and meanwhile, workpiece is firmly grasped or after sucking, its attitude cannot regulate.
Summary of the invention
For the technical problem existed in prior art, the object of the present invention is to provide a kind of reclaimer robot grasping mechanism of reasonable in design.To achieve these goals, the technical solution adopted in the present invention is:
A kind of reclaimer robot grasping mechanism, comprise transverse slat, the bottom of transverse slat is provided with the second guide rail, and the top of transverse slat is provided with link near the side of telescoping mechanism servomotor, and the end side on transverse slat top is fixed with bearing block; The top of link is provided with the grasping mechanism reductor and grasping mechanism servomotor that are connected to each other successively, the first synchronizing wheel be connected with grasping mechanism reductor is connected with the second synchronizing wheel being placed in bearing block top by the second Timing Belt, the top being placed in the second bearing in bearing block is connected with the second synchronizing wheel, the bottom of the second bearing is connected with support arm plate, support arm plate is connected with four support arms, the end of support arm is provided with sucker disk seat, is provided with organ sucker in the bottom of sucker disk seat; Worked by grasping mechanism servomotor, realize the rotation of support arm plate, rotate to drive the workpiece sucked by organ sucker.
Beneficial effect of the present invention shows:
Grasping mechanism is by workpiece grabbing, grasping mechanism is controlled at same level rotation with in surface by rotating mechanism, realize grasping mechanism by elevating mechanism to be elevated in perpendicular, by telescoping mechanism realize grasping mechanism in same level plane forward extend or to after-contraction.Equipment overall structure is compact, controls easy, can realize the accurate control of optional position.
Accompanying drawing explanation
Fig. 1 is the front view of reclaimer robot complete machine.
Fig. 2 is the top view of reclaimer robot complete machine.
Fig. 3 is the side view of reclaimer robot complete machine.
Fig. 4 is the structural representation of rotating mechanism.
Fig. 5 is the side view of elevating mechanism.
Fig. 6 is the front view of elevating mechanism.
Fig. 7 is the front view of telescoping mechanism.
Fig. 8 is the top view of telescoping mechanism.
Fig. 9 is the structural representation of grasping mechanism.
Figure 10 is the structural representation of the grasping mechanism after removing support arm and sucker.
Figure 11 is the mounting structure schematic diagram of support arm and sucker.
Detailed description of the invention
For further describing the present invention, below in conjunction with drawings and Examples, the present invention is described in further detail, but within the scope of embodiments therefore do not limited the present invention to.
Refer to shown in Fig. 1-3, a kind of reclaimer robot, comprise supporting frame 10, supporting frame 10 is provided with rotating mechanism 20, elevating mechanism 30, telescoping mechanism 40 and grasping mechanism 50, supporting frame 10 is placed in equipment sides such as treating working machine, grasping mechanism 50 is by workpiece grabbing, grasping mechanism 50 is controlled at same level rotation with in surface by rotating mechanism 20, realize grasping mechanism 50 by elevating mechanism 30 to be elevated in perpendicular, by telescoping mechanism 40 realize grasping mechanism 50 in same level plane forward extend or to after-contraction (conversion as between the state one in Fig. 1 and state two).
Refer to shown in Fig. 4, described rotating mechanism 20 comprises the shaft coupling housing 211 of the work top being sticked in supporting frame 10, be placed in the fixed mount 207 on shaft coupling housing 211 top, be placed in the connecting axle 210 at fixed mount 207 top and be placed in the motor rack 203 of shaft coupling housing 211 bottom, the bottom of motor rack 203 is disposed with rotating mechanism reductor 202 and rotating mechanism servomotor 201, rotating mechanism shaft coupling 205 is connected with the clutch shaft bearing 206 in fixed mount 207 and connecting axle 210, the top of fixed mount 207 is provided with cushion collar 208 and felt oil seal ring 209, connecting axle 210 is connected with the installing rack 310 of elevating mechanism 30, the installing rack 310 being realized elevating mechanism 30 by rotating mechanism servomotor 201 work is rotated.
Refer to shown in Fig. 5 and 6, described elevating mechanism 30 comprises installing rack 310, in installing rack 310, middle part is vertically furnished with the first screw mandrel 309, in installing rack 310, both sides are provided with the first guide rail 311, telescoping mechanism installing rack 304 is arranged on guide-rail plate 306, guide-rail plate 306 is arranged on supporting seat 307, and supporting seat 307 is arranged on the first screw mandrel 309 by nut 305; The bottom of installing rack 310 and connecting axle 210 Flange joint, and be provided with spline plate 312; The top of installing rack 310 is provided with motor mounting rack 302, and the elevating mechanism servomotor 301 being placed in motor mounting rack 302 top is connected by the elevating mechanism shaft coupling 303 being placed in motor mounting rack 302 inside with the first screw mandrel 309; Drive the first screw mandrel 309 to rotate by elevating mechanism servomotor 301, realize supporting seat 307 and drive telescoping mechanism 40 to rise or decline.
Refer to shown in Fig. 7 and 8, described telescoping mechanism 40 comprises the installing plate 406 be connected with telescoping mechanism installing rack 304, the top of installing plate 406 is provided with telescoping mechanism servomotor 407, the bottom of installing plate 406 is connected with horizontally disposed base plate 401, the end being placed in the second screw mandrel 410 above base plate 401 is connected with telescoping mechanism servomotor 407 by the first Timing Belt 405, the two ends of the second screw mandrel 410 are all placed on screw mandrel holder 404, are placed between sliding sleeve 408 on the second screw mandrel 410 and screw mandrel holder 404 and are also provided with buffing pad 403; One side bottom of the transverse slat 509 of grasping mechanism 50 is fixed on sliding sleeve 408, is placed on extension board 409, extension board 409 is fixed with chute 518 bottom the opposite side of transverse slat 509, and the second guide rail 514 be placed in bottom transverse slat 509 is embedded at this chute 518; The second screw mandrel 410 is driven to rotate by telescoping mechanism servomotor 407, sliding sleeve 408 is run on the second screw mandrel 410, thus drive the transverse slat 509 of grasping mechanism 50 to run above the second screw mandrel 410, and limit its operating path under by the second guide rail 514 and chute 518 mating reaction.
Refer to shown in Fig. 9-11, described grasping mechanism 50 comprises transverse slat 509, the bottom of transverse slat 509 is provided with the second guide rail 514, and the top of transverse slat 509 is provided with link 515 near the side of telescoping mechanism servomotor 407, and the end side on transverse slat 509 top is fixed with bearing block 504, the top of link 515 is provided with the grasping mechanism reductor 516 and grasping mechanism servomotor 513 that are connected to each other successively, the first synchronizing wheel 517 be connected with grasping mechanism reductor 516 is connected with the second synchronizing wheel 511 being placed in bearing block 504 top by the second Timing Belt 510, the top being placed in the second bearing 503 in bearing block 504 is connected with the second synchronizing wheel 511, the bottom of the second bearing 503 is connected with support arm plate 506, support arm plate 506 is connected with four support arms 502, the end of support arm 502 is provided with sucker disk seat 501, organ sucker 507 is provided with in the bottom of sucker disk seat 501, worked by grasping mechanism servomotor 513, realize the rotation of support arm plate 506, rotate to drive the workpiece sucked by organ sucker 507.
Above content is only to design example of the present invention and explanation; affiliated those skilled in the art make various amendment to described specific embodiment or supplement or adopt similar mode to substitute; only otherwise depart from the design of invention or surmount this scope as defined in the claims, protection scope of the present invention all should be belonged to.
Claims (1)
1. a reclaimer robot grasping mechanism, it is characterized in that: comprise transverse slat (509), the bottom of transverse slat (509) is provided with the second guide rail (514), the top of transverse slat (509) is provided with link (515) near the side of telescoping mechanism servomotor (407), and the end side on transverse slat (509) top is fixed with bearing block (504), the top of link (515) is provided with the grasping mechanism reductor (516) and grasping mechanism servomotor (513) that are connected to each other successively, the first synchronizing wheel (517) be connected with grasping mechanism reductor (516) is connected with the second synchronizing wheel (511) being placed in bearing block (504) top by the second Timing Belt (510), the top being placed in the second bearing (503) in bearing block (504) is connected with the second synchronizing wheel (511), the bottom of the second bearing (503) is connected with support arm plate (506), support arm plate (506) is connected with four support arms (502), the end of support arm (502) is provided with sucker disk seat (501), organ sucker (507) is provided with in the bottom of sucker disk seat (501), by grasping mechanism servomotor (513) work, realize the rotation of support arm plate (506), rotate to drive the workpiece sucked by organ sucker (507).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510636755.5A CN105150202A (en) | 2015-10-01 | 2015-10-01 | Grabbing mechanism of material taking mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510636755.5A CN105150202A (en) | 2015-10-01 | 2015-10-01 | Grabbing mechanism of material taking mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105150202A true CN105150202A (en) | 2015-12-16 |
Family
ID=54791396
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510636755.5A Pending CN105150202A (en) | 2015-10-01 | 2015-10-01 | Grabbing mechanism of material taking mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105150202A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110014423A (en) * | 2019-05-20 | 2019-07-16 | 吉林工程技术师范学院 | It is a kind of for loading and unloading the bionic mechanical arm of raw material |
| CN111515988A (en) * | 2020-05-12 | 2020-08-11 | 湖南红太阳光电科技有限公司 | Manipulator capable of grabbing multiple graphite boats and grabbing method of manipulator |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101947607A (en) * | 2010-08-23 | 2011-01-19 | 张新国 | Intelligent mechanical arm of punch press |
| CN103658433A (en) * | 2013-11-25 | 2014-03-26 | 冯华仁 | Punching manipulator |
| KR20140051049A (en) * | 2012-10-22 | 2014-04-30 | 주식회사 나온테크 | Compact transfer robot |
| CN204220833U (en) * | 2014-09-18 | 2015-03-25 | 合肥金海康五金机械制造有限公司 | A kind of deep-draw pressing mold reclaimer robot |
| CN104626134A (en) * | 2015-01-23 | 2015-05-20 | 东莞市松庆智能自动化科技有限公司 | Rotary feeding and discharging manipulator device |
| CN104858862A (en) * | 2015-05-14 | 2015-08-26 | 无锡艾度科技有限公司 | Punching transfer mechanical arm |
-
2015
- 2015-10-01 CN CN201510636755.5A patent/CN105150202A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101947607A (en) * | 2010-08-23 | 2011-01-19 | 张新国 | Intelligent mechanical arm of punch press |
| KR20140051049A (en) * | 2012-10-22 | 2014-04-30 | 주식회사 나온테크 | Compact transfer robot |
| CN103658433A (en) * | 2013-11-25 | 2014-03-26 | 冯华仁 | Punching manipulator |
| CN204220833U (en) * | 2014-09-18 | 2015-03-25 | 合肥金海康五金机械制造有限公司 | A kind of deep-draw pressing mold reclaimer robot |
| CN104626134A (en) * | 2015-01-23 | 2015-05-20 | 东莞市松庆智能自动化科技有限公司 | Rotary feeding and discharging manipulator device |
| CN104858862A (en) * | 2015-05-14 | 2015-08-26 | 无锡艾度科技有限公司 | Punching transfer mechanical arm |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110014423A (en) * | 2019-05-20 | 2019-07-16 | 吉林工程技术师范学院 | It is a kind of for loading and unloading the bionic mechanical arm of raw material |
| CN110014423B (en) * | 2019-05-20 | 2023-12-01 | 吉林工程技术师范学院 | Bionic mechanical arm for loading and unloading raw materials |
| CN111515988A (en) * | 2020-05-12 | 2020-08-11 | 湖南红太阳光电科技有限公司 | Manipulator capable of grabbing multiple graphite boats and grabbing method of manipulator |
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Application publication date: 20151216 |
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