CN105563479A - Transferring and rapid carrying mechanical hand for assembly line - Google Patents
Transferring and rapid carrying mechanical hand for assembly line Download PDFInfo
- Publication number
- CN105563479A CN105563479A CN201610118807.4A CN201610118807A CN105563479A CN 105563479 A CN105563479 A CN 105563479A CN 201610118807 A CN201610118807 A CN 201610118807A CN 105563479 A CN105563479 A CN 105563479A
- Authority
- CN
- China
- Prior art keywords
- escapement
- movably connected
- cam
- fork
- push away
- 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.)
- Pending
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to industrial automation equipment, in particular to an automatic mechanical hand. A transferring and rapid carrying mechanical hand for an assembly line comprises a vertical plate, a triangular support, a servo motor, a synchronous transmission mechanism, a mechanical arm, a gripper, a pull rod, a transverse rod, a vertical sliding block, a transverse sliding block, a first core shaft, a second core shaft, a movable joint, a swing rod, a transverse pushing cam, a longitudinal pushing cam and a balance wheel. The triangular support is fixedly connected to the vertical plate, the vertical sliding block is fixedly connected to the vertical plate, the pull rod which can slide in the longitudinal direction is movably connected to the vertical sliding block, and the transverse sliding block is fixedly connected to the tail end of the pull rod; the mechanical arm which can slide transversely is movably connected to the transverse sliding block, and the gripper is fixedly connected to the tail end of the mechanical arm; the one servo motor is used as a driving source, and a preconceived two-dimensional motion space is generated by the mechanical hand; and the mechanical hand is used for workpiece carrying between different assembly lines, and the movement locus of the mechanical hand is stable and reliable.
Description
Technical field
The present invention relates to industrial automation equipment, more particularly, relate to a kind of automatic mechanical hand.
Background technology
Manipulator refers to some holding function imitating staff and arm, in order to capture, to carry the automatic pilot of object or operation tool by fixed routine.It can replace the heavy labor of people to realize mechanization and the automation of production, can operate to protect personal safety under hostile environment, thus be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Manipulator forms primarily of hand, motion and control system three parts.Hand is used to the parts grasping workpiece (or instrument), has various structures form according to by grasping the shape of object, size, weight, material and job requirements, as clamp-type, holding type and absorbent-type etc.Motion, makes that hand completes various rotation (swing), mobile or compound motion realizes the action that specifies, change and grasped the position of object and posture.The self-movement modes such as the lifting of motion, flexible, rotation, are called the free degree of manipulator.Control system is the control by the motor to each free degree of manipulator, has carried out specific action.
But existing mechanical finger is often driven by multiple motor, complex structure is expensive.
Summary of the invention
A kind of streamline has been the object of the present invention is to provide to transmit fast removal manipulator, streamline of the present invention transmits fast removal manipulator and achieves light-weight design, utilize a servomotor as drive source, manipulator is made to produce the two dimensional motion space of anticipation, for carrying workpiece between different streamlines, the movement locus of manipulator is stable, reliable.
A kind of streamline transmits fast removal manipulator, comprise riser, A-frame, servomotor, synchronous drive mechanism, mechanical arm, paw, pull bar, cross bar, perpendicular slide block, cross slider, a mandrel, No. two mandrels, active joint, fork, horizontally push away cam, indulge and push away cam, escapement, described A-frame is fixed on described riser, described perpendicular slide block is fixed on described riser, the described pull bar that can longitudinally slide is movably connected on described perpendicular slide block, to be connected described cross slider at the end of described pull bar, the described mechanical arm that can transversely slide is movably connected on described slide block, described paw is fixed on the end of described mechanical arm,
Described servomotor is fixed on described A-frame, and a described mandrel, No. two mandrels are movably connected on described riser, and described synchronous drive mechanism connects the output shaft of described servomotor and a described mandrel;
A described mandrel is connected and describedly horizontally pushes away cam, vertical push away cam, described No. two mandrels are connected described fork, escapement, describedly horizontally push away cam and described fork matches, describedly vertical push away cam and described escapement matches, one end of described fork be movably connected on describedly horizontally push away on cam, the other end is movably connected on described mechanical arm end by described active joint, described escapement is movably connected on described indulging and pushes away cam, to be connected cross bar at the end of described pull bar, described cross bar is movably connected on described escapement.
Preferably, described fork arranges fork roller, described fork is movably connected on by described fork roller and describedly horizontally pushes away cam.
Preferably, described escapement arranges an escapement roller, described escapement is movably connected on described indulging by a described escapement roller and pushes away cam.
Preferably, described escapement arranges No. two escapement rollers, described escapement is movably connected on described cross bar by described No. two escapement rollers.
Compare with conventional art, streamline of the present invention transmits fast removal manipulator and has following positive role and beneficial effect:
Streamline of the present invention transmits fast removal manipulator for being placed in production line, is grabbed No. two conveyer belts by workpiece, realize workpiece and carry between different streamlines or between different positions from a conveyer belt.Streamline of the present invention transmits fast removal manipulator by servomotor described in single power source as power, horizontally push away cam by described and vertical push away paw described in cam production and realize transverse movement and lengthwise movement, thus described paw being constructed be suitable for capturing the two dimensional motion track of described workpiece.In order to obtain two dimensional motion track in traditional digital control system, at least need two servomotors to input as power, and two servomotors are in order to reach the object of two-axle interlocking, need supporting multi-shaft motion control system, add the burden of control system.Streamline of the present invention transmits the two dimensional motion track that fast removal manipulator produces, and without the need to the interpolation operation of complexity, only needs a servomotor, the burden of control system is little, control program is simple, and movement locus has mechanical system to realize, and movement locus is stable, reliable.
Describedly horizontally push away cam and describedly vertical push away cam and be fixed on a described mandrel, describedly horizontally pushing away cam and the described vertical relative angle pushed away between cam, determining the movement locus of described paw.
Accompanying drawing explanation
Fig. 1 is the perspective view that streamline of the present invention transmission fast removal manipulator is installed on production line;
Fig. 2,3,4,5 is that streamline of the present invention transmits the structural representation of fast removal manipulator after removing part.
No. 1 conveyer belts, 2 No. two conveyer belts, 3 workpiece, 4 risers, 5 A-frames, 6 servomotors, 7 synchronous drive mechanisms, 8 mechanical arms, 9 paws, 10 pull bars, 11 cross bars, 12 perpendicular slide blocks, 13 cross sliders, No. 14 mandrels, 15 No. two mandrels, 16 active joints, 17 forks, the 18 horizontal cams, 19 that push away vertically push away cam, 20 escapements, 21 fork rollers, No. 22 escapement rollers, 23 No. two escapement rollers.
Detailed description of the invention
Be described in further detail the present invention below in conjunction with accompanying drawing, but do not form any limitation of the invention, element numbers similar in accompanying drawing represents similar element.As mentioned above, the invention provides a kind of streamline and transmit fast removal manipulator, for realizing crawl and the transfer of material.
Fig. 1 is the perspective view that streamline of the present invention transmission fast removal manipulator is installed on production line, and Fig. 2,3,4,5 is that streamline of the present invention transmits the structural representation of fast removal manipulator after removing part.
A kind of streamline transmits fast removal manipulator, comprise riser 4, A-frame 5, servomotor 6, synchronous drive mechanism 7, mechanical arm 8, paw 9, pull bar 10, cross bar 11, perpendicular slide block 12, cross slider 13, a mandrel 14, No. two mandrels 15, active joint 16, fork 17, horizontally push away cam 18, indulge and push away cam 19, escapement 20, described A-frame 5 is fixed on described riser 4, described perpendicular slide block 12 is fixed on described riser 4, the described pull bar 10 that can longitudinally slide is movably connected on described perpendicular slide block 12, to be connected described cross slider 13 at the end of described pull bar 10, the described mechanical arm 8 that can transversely slide is movably connected on described slide block 13, described paw 9 is fixed on the end of described mechanical arm 8,
Described servomotor 6 is fixed on described A-frame 5, and a described mandrel 14, No. two mandrels 15 are movably connected on described riser 4, and described synchronous drive mechanism 7 connects the output shaft of described servomotor 6 and a described mandrel 14;
A described mandrel 14 is connected and describedly horizontally pushes away cam 18, indulge and push away cam 19, described No. two mandrels 15 are connected described fork 17, escapement 20, describedly horizontally push away cam 18 and described fork 17 matches, describedly vertical push away cam 19 and described escapement 20 matches, one end of described fork 17 is movably connected on and describedly horizontally pushes away on cam 18, the other end is movably connected on the end of described mechanical arm 8 by described active joint 16, described escapement 20 is movably connected on described indulging and pushes away cam 19, to be connected cross bar 11 at the end of described pull bar 10, described cross bar 11 is movably connected on described escapement 20.
More specifically, described fork 17 arranges fork roller 21, described fork 17 is movably connected on by described fork roller 21 and describedly horizontally pushes away cam 18.
More specifically, described escapement 20 arranges an escapement roller 22, described escapement 20 is movably connected on described indulging by a described escapement roller 22 and pushes away cam 19.
More specifically, described escapement 20 arranges No. two escapement rollers 23, described escapement 20 is movably connected on described cross bar 11 by described No. two escapement rollers 23.
Below in conjunction with Fig. 1 to 5, further describe operation principle and the course of work that streamline of the present invention transmits fast removal manipulator:
Streamline of the present invention transmits fast removal manipulator for being placed in production line, is grabbed No. two conveyer belts 2 by workpiece 3, realize workpiece and carry between different streamlines or between different positions from a conveyer belt 1.Streamline of the present invention transmits fast removal manipulator by servomotor described in single power source 6 as power, horizontally push away cam 18 and the vertical cam 19 that pushes away controls described paw 9 and realizes transverse movement and lengthwise movement by described, thus described paw 9 is constructed be suitable for the two dimensional motion track that captures described workpiece 3.In order to obtain two dimensional motion track in traditional digital control system, at least need two servomotors to input as power, and two servomotors are in order to reach the object of two-axle interlocking, need supporting multi-shaft motion control system, add the burden of control system.Streamline of the present invention transmits the two dimensional motion track that fast removal manipulator produces, and without the need to the interpolation operation of complexity, only needs a servomotor, the burden of control system is little, control program is simple, and movement locus has mechanical system to realize, and movement locus is stable, reliable.
See Fig. 4, next describe described paw 9 and produce transverse movement.Described servomotor 6 makes the described horizontal cam 18 that pushes away do counterclockwise rotation around a described mandrel 14 by described synchronous drive mechanism 7, the described horizontal cam 18 that pushes away promotes described fork 17 and moves, and described fork 17 is moved clockwise around described No. two mandrels 15.Described fork 17 promotes described mechanical arm 8 by described active joint 16 and produces transverse movement.Described mechanical arm 8 produce the amplitude of transverse movement and speed by described horizontal push away cam 18 profile and rotating speed determine.The transverse movement of described mechanical arm 8 is the component motion of described paw 9 at horizontal direction.
See Fig. 5, next describe described paw 9 and produce lengthwise movement.Described escapement 20 is movably connected on and describedly vertical pushes away cam 19, and to be connected cross bar 11 at the end of described pull bar 10, described cross bar 11 is movably connected on described escapement 20.Described escapement 20 arranges an escapement roller 22, and described escapement 20 is movably connected on described indulging by a described escapement roller 22 and pushes away cam 19; Described escapement 20 arranges No. two escapement rollers 23, and described escapement 20 is movably connected on described cross bar 11 by described No. two escapement rollers 23.A described escapement roller 22 is movably connected on the described vertical contour surface pushing away cam 19, describedly vertically pushes away cam 19 and the described horizontal cam 18 that pushes away synchronously does around a described mandrel 14 and counterclockwise rotates, and drives described escapement 20 to rotate around described No. two mandrels 15.Because described cross bar 11 is movably connected on described No. two escapement rollers 23, there is lengthwise movement with described No. two escapement rollers 23 in described pull bar 10.Described pull bar 10 produce the amplitude of lengthwise movement and speed by described vertical push away cam 19 profile and rotating speed determine.The lengthwise movement of described pull bar 10 is the component motion of described paw 9 at longitudinal direction.
Describedly horizontally push away cam 18 and describedly vertical push away cam 19 and be fixed on a described mandrel 14, describedly horizontally pushing away cam 18 and the described vertical relative angle pushed away between cam 19, determining the movement locus of described paw 9.
Finally, it should be pointed out that above embodiment is only the more representational example of the present invention.Obviously, the invention is not restricted to above-described embodiment, many distortion can also be had.Every above embodiment is done according to technical spirit of the present invention any simple modification, equivalent variations and modification, all should think and belong to protection scope of the present invention.
Claims (4)
1. a streamline transmits fast removal manipulator, it is characterized in that composed as follows: comprise riser, A-frame, servomotor, synchronous drive mechanism, mechanical arm, paw, pull bar, cross bar, perpendicular slide block, cross slider, a mandrel, No. two mandrels, active joint, fork, horizontally push away cam, indulge and push away cam, escapement, described A-frame is fixed on described riser, described perpendicular slide block is fixed on described riser, the described pull bar that can longitudinally slide is movably connected on described perpendicular slide block, to be connected described cross slider at the end of described pull bar, the described mechanical arm that can transversely slide is movably connected on described slide block, described paw is fixed on the end of described mechanical arm,
Described servomotor is fixed on described A-frame, and a described mandrel, No. two mandrels are movably connected on described riser, and described synchronous drive mechanism connects the output shaft of described servomotor and a described mandrel;
A described mandrel is connected and describedly horizontally pushes away cam, vertical push away cam, described No. two mandrels are connected described fork, escapement, describedly horizontally push away cam and described fork matches, describedly vertical push away cam and described escapement matches, one end of described fork be movably connected on describedly horizontally push away on cam, the other end is movably connected on described mechanical arm end by described active joint, described escapement is movably connected on described indulging and pushes away cam, to be connected cross bar at the end of described pull bar, described cross bar is movably connected on described escapement.
2. streamline according to claim 1 transmits fast removal manipulator, it is characterized in that, described fork arranges fork roller, and described fork is movably connected on by described fork roller and describedly horizontally pushes away cam.
3. streamline according to claim 1 transmits fast removal manipulator, it is characterized in that, described escapement arranges an escapement roller, and described escapement is movably connected on described indulging by a described escapement roller and pushes away cam.
4. streamline according to claim 1 transmits fast removal manipulator, and it is characterized in that, described escapement arranges No. two escapement rollers, described escapement is movably connected on described cross bar by described No. two escapement rollers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610118807.4A CN105563479A (en) | 2016-03-02 | 2016-03-02 | Transferring and rapid carrying mechanical hand for assembly line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610118807.4A CN105563479A (en) | 2016-03-02 | 2016-03-02 | Transferring and rapid carrying mechanical hand for assembly line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105563479A true CN105563479A (en) | 2016-05-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610118807.4A Pending CN105563479A (en) | 2016-03-02 | 2016-03-02 | Transferring and rapid carrying mechanical hand for assembly line |
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| Country | Link |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106276238A (en) * | 2016-10-28 | 2017-01-04 | 山西省农业科学院农产品加工研究所 | The mechanical hand of conveying Fructus Jujubae folder Semen Juglandis |
| CN108161922A (en) * | 2018-02-05 | 2018-06-15 | 河海大学常州校区 | A kind of feeding cam manipulator |
| CN109019001A (en) * | 2018-08-22 | 2018-12-18 | 惠州市成泰自动化科技有限公司 | A kind of cam lever-type automatic charging device |
| CN110385380A (en) * | 2018-04-18 | 2019-10-29 | 昆山奥尔顿自动化科技有限公司 | A kind of single lever-type manipulator |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1076487A (en) * | 1996-08-30 | 1998-03-24 | Mitsui Eng & Shipbuild Co Ltd | Transfer robot |
| CN2900102Y (en) * | 2006-05-31 | 2007-05-16 | 天津汉顿包装食品机械厂 | Turning robot device for clipping bag |
| CN201505911U (en) * | 2009-04-27 | 2010-06-16 | 深圳先进技术研究院 | Carrying manipulator |
| CN201595369U (en) * | 2010-01-22 | 2010-10-06 | 扬州市海星数控制刷设备有限公司 | Bristle implanting machine |
| CN103640894A (en) * | 2013-12-04 | 2014-03-19 | 天津亿鑫通科技股份有限公司 | Precision reciprocating transfer device |
| CN104914348A (en) * | 2015-06-11 | 2015-09-16 | 武汉轻工大学 | Capacitor electrical core polarity detection device |
| CN205394547U (en) * | 2016-03-02 | 2016-07-27 | 戴毅 | Mechanical hand is carried fast in assembly line conveying |
-
2016
- 2016-03-02 CN CN201610118807.4A patent/CN105563479A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1076487A (en) * | 1996-08-30 | 1998-03-24 | Mitsui Eng & Shipbuild Co Ltd | Transfer robot |
| CN2900102Y (en) * | 2006-05-31 | 2007-05-16 | 天津汉顿包装食品机械厂 | Turning robot device for clipping bag |
| CN201505911U (en) * | 2009-04-27 | 2010-06-16 | 深圳先进技术研究院 | Carrying manipulator |
| CN201595369U (en) * | 2010-01-22 | 2010-10-06 | 扬州市海星数控制刷设备有限公司 | Bristle implanting machine |
| CN103640894A (en) * | 2013-12-04 | 2014-03-19 | 天津亿鑫通科技股份有限公司 | Precision reciprocating transfer device |
| CN104914348A (en) * | 2015-06-11 | 2015-09-16 | 武汉轻工大学 | Capacitor electrical core polarity detection device |
| CN205394547U (en) * | 2016-03-02 | 2016-07-27 | 戴毅 | Mechanical hand is carried fast in assembly line conveying |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106276238A (en) * | 2016-10-28 | 2017-01-04 | 山西省农业科学院农产品加工研究所 | The mechanical hand of conveying Fructus Jujubae folder Semen Juglandis |
| CN106276238B (en) * | 2016-10-28 | 2018-08-31 | 山西省农业科学院农产品加工研究所 | Convey the manipulator of jujube folder walnut |
| CN108161922A (en) * | 2018-02-05 | 2018-06-15 | 河海大学常州校区 | A kind of feeding cam manipulator |
| CN110385380A (en) * | 2018-04-18 | 2019-10-29 | 昆山奥尔顿自动化科技有限公司 | A kind of single lever-type manipulator |
| CN109019001A (en) * | 2018-08-22 | 2018-12-18 | 惠州市成泰自动化科技有限公司 | A kind of cam lever-type automatic charging device |
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Application publication date: 20160511 |