CN105643614A - Workpiece moving manipulator - Google Patents
Workpiece moving manipulator Download PDFInfo
- Publication number
- CN105643614A CN105643614A CN201410646359.6A CN201410646359A CN105643614A CN 105643614 A CN105643614 A CN 105643614A CN 201410646359 A CN201410646359 A CN 201410646359A CN 105643614 A CN105643614 A CN 105643614A
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- mechanical hand
- manipulator
- workpiece according
- screw
- moved
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Abstract
The invention discloses a workpiece moving manipulator. The workpiece moving manipulator is mainly composed of a manipulator clamping mechanism, a stand column, an engine base, a stepping motor, a cylindrical driving gear, a stepping motor, a cylindrical driven gear, a rocker arm, a guide shaft, a lead screw sliding block, a lead screw shaft and an arm. Automatic control system design of the manipulator is achieved through a PLC, so that the system is adaptive to the industrial production condition. In addition, the PLC has the advantages of control flexibility, expandability and the like, so that the system based on the PLC has high cost performance, and the production efficiency is improved.
Description
Technical field
The present invention relates to a kind of mechanical hand, especially relate to a kind of workpiece and move mechanical hand.
Background technology
In life now, under the progress of Science and Technology Day crescent benefit, robot and the maximum difference of the arm having the mankind are that flexibility ratio and resistance to dynamics. Namely the sharpest edges of mechanical hand are recursive does same action and will not feel tired under normal circumstances forever at machinery. The application of mechanical arm also will be more and more extensive, and mechanical hand is a kind of high-tech automatic producing device that recent decades grows up, the ability fulfiled assignment in the accuracy of operation and environment. One important branch of industry mechanical arm robot.
At present, mechanical hand is widely used to casting, forging, punching press, machining, sprays paint and in the various technical processs such as assembling. Mechanical hand mode is adopted to replace artificial mode, it is possible to be greatly reduced the labor intensity of workman, reduce the waste of human resources, saving production cost, improve production efficiency, reducing because manually neglecting the security incident caused.
Summary of the invention
The present invention provides a kind of workpiece to move mechanical hand, and this mechanical hand is with the PLC mechanical hand being control core, it is possible to achieve use " profiling " action of key point input and automatic mode lookup table mode under manual mode. During this equipment can be applicable to, on small lot batch manufacture flexible manufacturing automatic production line, it is achieved workpiece moving between two workbench.
The technical solution adopted in the present invention is:
The present invention is made up of mechanical hand trunk and manipulator clamping mechanism. Population structure includes: manipulator clamping mechanism, column, support, motor, cylinder driving gear, motor, cylinder driven gear, rocking arm, the axis of guide, screw slider, lead screw shaft and arm. Operator only needs a manual operation, and PLC can complete the some position programming of auto-programming, and mechanical hand just can be automatically performed the action identical with manual operation, moves in circles.
Described mechanical hand adopts step motor drive, and to obtain the various motions of mechanical hand, motor can reach the repetitive positioning accuracy that comparison is high.
Described mechanical hand upper and lower, left and right rectilinear motion is by step motor drive ball-screw, then realized by ball-screw nut transmission.
The rotary motion of described mechanical hand is by step motor drive spur gear, then is realized by spur gear engaged transmission.
Described manipulator clamping mechanism and paw are used to the parts of grabbing workpiece. The chuck of various shape and size can be equipped with, to adapt to operation according to the shape of clamping object and size. Mainly it is made up of paw, rotating shaft, compression spring, electromagnetic core, solenoid, nut, manipulator paw housing, alignment pin, rubber antiskid pad and stop screw.
The clamping of described mechanical hand with loosen by solenoid controlled.If coil obtains electric, arm end produces magnetic torque. When magnetic torque is compressed produced moment more than spring, arm adhesive, manipulator paw opens; If coil losing electricity, arm end is without magnetic torque, and manipulator paw under moment loading produced by spring pre-compression force, will keep clamped condition, it is achieved auto-lock function, it is to avoid because accidental power-off causes that being grabbed thing drops.
The invention has the beneficial effects as follows: realize mechanical hand Design of Automatic Control System with PLC, system is not only made to adapt to industrial process conditions, and PLC self possesses the control advantage such as motility and extensibility, makes to have based on the system of PLC significantly high cost performance, improves production efficiency.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is the robot manipulator structure figure of the present invention.
Fig. 2 is the clamping device structure chart of the present invention.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described.
Such as Fig. 1, mechanical hand is mainly made up of manipulator clamping mechanism 1, column 2, support 3, motor 4, cylinder driving gear 5, motor cylinder driven gear 6, rocking arm 7, the axis of guide 8, screw slider 9, lead screw shaft 10 and arm 11.
Such as Fig. 1, mechanical hand adopts step motor drive, and to obtain the various motions of mechanical hand, motor can reach the repetitive positioning accuracy that comparison is high.
Such as Fig. 1, the described mechanical hand of mechanical hand upper and lower, left and right rectilinear motion is by step motor drive ball-screw, then realized by ball-screw nut transmission.
Such as Fig. 1, the rotary motion of mechanical hand is by step motor drive spur gear, then is realized by spur gear engaged transmission.
Such as Fig. 2, the clamping device of mechanical hand is mainly made up of paw 1, rotating shaft 2, compression spring 3, electromagnetic core 4, solenoid 5, nut 6, manipulator paw housing 7, alignment pin 8, stop screw 9 and rubber antiskid pad 10.
Such as Fig. 2, the clamping of mechanical hand with loosen by solenoid controlled. If coil obtains electric, arm end produces magnetic torque. When magnetic torque is compressed produced moment more than spring, arm adhesive, manipulator paw 1 opens; If coil losing electricity, arm end is without magnetic torque, and manipulator paw 1 under moment loading produced by spring pre-compression force, will keep clamped condition, it is achieved auto-lock function, it is to avoid because accidental power-off causes that being grabbed thing drops.
Claims (6)
1. a mechanical hand moved by workpiece, it is characterized in that: mechanical hand is mainly made up of manipulator clamping mechanism 1, column 2, support 3, motor 4, cylinder driving gear 5, motor cylinder driven gear 6, rocking arm 7, the axis of guide 8, screw slider 9, lead screw shaft 10 and arm 11.
2. mechanical hand moved by a kind of workpiece according to claim 1, it is characterized in that: described mechanical hand adopts step motor drive, and to obtain the various motions of mechanical hand, motor can reach the repetitive positioning accuracy that comparison is high.
3. mechanical hand moved by a kind of workpiece according to claim 1, it is characterized in that: described mechanical hand upper and lower, left and right rectilinear motion is by step motor drive ball-screw, then realized by ball-screw nut transmission.
4. mechanical hand moved by a kind of workpiece according to claim 1, it is characterized in that: the rotary motion of described mechanical hand is by step motor drive spur gear, then is realized by spur gear engaged transmission.
5. mechanical hand moved by a kind of workpiece according to claim 1, it is characterized in that: the clamping device of described mechanical hand is mainly made up of paw 1, rotating shaft 2, compression spring 3, electromagnetic core 4, solenoid 5, nut 6, manipulator paw housing 7, alignment pin 8, stop screw 9 and rubber antiskid pad 10.
6. mechanical hand moved by a kind of workpiece according to claim 1, it is characterized in that: the clamping of described mechanical hand with loosen by solenoid controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410646359.6A CN105643614A (en) | 2014-11-15 | 2014-11-15 | Workpiece moving manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410646359.6A CN105643614A (en) | 2014-11-15 | 2014-11-15 | Workpiece moving manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105643614A true CN105643614A (en) | 2016-06-08 |
Family
ID=56478959
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410646359.6A Pending CN105643614A (en) | 2014-11-15 | 2014-11-15 | Workpiece moving manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105643614A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105955329A (en) * | 2016-07-19 | 2016-09-21 | 洪明 | Intelligent pressure induction drawing steel bar stress mechanism |
| CN106041874A (en) * | 2016-07-19 | 2016-10-26 | 洪明 | Mechanical stress arm |
| CN106197779A (en) * | 2016-07-19 | 2016-12-07 | 洪明 | A kind of foil gauge pressure sensitive reinforcing bar drawing force mechanism |
-
2014
- 2014-11-15 CN CN201410646359.6A patent/CN105643614A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105955329A (en) * | 2016-07-19 | 2016-09-21 | 洪明 | Intelligent pressure induction drawing steel bar stress mechanism |
| CN106041874A (en) * | 2016-07-19 | 2016-10-26 | 洪明 | Mechanical stress arm |
| CN106197779A (en) * | 2016-07-19 | 2016-12-07 | 洪明 | A kind of foil gauge pressure sensitive reinforcing bar drawing force mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160608 |