CN105773583B - A kind of four station manipulators - Google Patents
A kind of four station manipulators Download PDFInfo
- Publication number
- CN105773583B CN105773583B CN201610356587.9A CN201610356587A CN105773583B CN 105773583 B CN105773583 B CN 105773583B CN 201610356587 A CN201610356587 A CN 201610356587A CN 105773583 B CN105773583 B CN 105773583B
- Authority
- CN
- China
- Prior art keywords
- claw
- cylinder
- mechanical arm
- panoramic table
- gear shaft
- 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.)
- Expired - Fee Related
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Wire Processing (AREA)
Abstract
The invention discloses a kind of four stations manipulator, it is characterised in that：Including pedestal, panoramic table, coiling shafting, support frame, mechanical arm group；Panoramic table is provided with the pedestal, and is connected by rotary cylinder so that the panoramic table can be rotated freely；Support frame is fixedly installed on the panoramic table；Panoramic table below support frame as described above is provided with the coiling shafting；There is the mechanical arm group in the upper support of support frame as described above；The mechanical arm group is turned to by the panoramic table, and realizes using the coiling shafting scaling operation in all directions.The present invention can realize the material transmission of synchronous four stations, so as to improve production efficiency, and save production cost.
Description
Technical field
The invention belongs to industry mechanical arm field, and in particular to a kind of four stations manipulator.
Background technology
As automation, intelligent industrial expansion are with promoting, increasing robotic device applies to actual production
In streamline, the manipulator species that material is fetched and delivered in automation is more and more.At present, most automatic mechanical hands all only have one substantially
Individual executable operating mechanism, can only once be operated on a station, and operating efficiency is low, and multi-joint arm mechanical perhaps
The arm position quality of hand is big, revolution inertia it is big, it is necessary to motor it is many, Structural Energy Dissipation is high, adds production cost, and
Structure is not compact, and space-consuming is larger.
The content of the invention
In order to solve the problems of existing automatic mechanical hand, the present invention proposes a kind of compact conformation, work effect
The four station manipulators that rate is high, rotating mass is small, power consumption is low, to which the material transmission of synchronous four stations can be realized, so as to improve
Production efficiency, and save production cost.
The present invention adopts the following technical scheme that to solve technical problem：
A kind of the characteristics of four stations manipulator of the invention：Including pedestal, panoramic table, coiling shafting, support frame, mechanical arm
Group；
Panoramic table is provided with the pedestal, and is connected by rotary cylinder so that the panoramic table can freely turn
It is dynamic；
Support frame is fixedly installed on the panoramic table；Panoramic table below support frame as described above is provided with the coiling
Shafting；There is the mechanical arm group in the upper support of support frame as described above；
The mechanical arm group is turned to by the panoramic table, and realizes all directions using the coiling shafting
On scaling operation.
The characteristics of four stations manipulator of the present invention, lies also in：
The coiling shafting is made up of four groups of rolls, and any one roll includes：Reel, bearing, bevel gear
Axle, steel wire rope；
The bevel gear shaft is fixed on the panoramic table by bearing, and the coiling is set with the bevel gear shaft
Wheel；The steel wire rope is wound with the reel；
The top gear of the bevel gear shaft of four groups of rolls intermeshes, and drives one of them by servomotor
The bevel gear shaft of roll is rotated, so as to drive the bevel gear shaft synchronous axial system of other three rolls so that on bevel gear shaft
Reel can drive steel wire rope positive and negative rotation thereon.
The mechanical arm group is made up of four mechanical arms；Any one mechanical arm includes：Mechanical arm support,
Stationary cylinder, telescoping cylinder, claw support, telescopic cylinder, claw pivoted lever, claw, drive pin, adjustable spring group, first pulley,
Two pulleys, sliding block；
The stationary cylinder is fixed on support frame as described above by the mechanical arm support, in the fixed inner cylinder sleeve
State telescoping cylinder；The telescopic cylinder is fixedly installed by the claw support at the top of the telescoping cylinder, in the claw
The front end of support is vertically arranged with claw pivoted lever；The claw, and the claw are connected with the top of the telescopic cylinder
Pivoted lever passes through the rotating central hole of the claw end；The afterbody of the claw is provided with chute, and the chute is by driving
Dynamic pin at the top of the telescopic cylinder with being connected；
The sliding block is vertically arranged in the stationary cylinder, centre bore is provided with the sliding block；The one of the sliding block
Side is butted on the inside bottom of the stationary cylinder by the adjustable spring group；Opposite side is butted on institute also by the adjustable spring group
State the exterior bottom of telescoping cylinder；
First pulley is provided with the sliding block, second pulley is set in the inside bottom of the stationary cylinder；
The aperture of stationary cylinder bottom described in the steel wire penetrating is simultaneously had mercy on to second pulley by first pulley, is then passed through
Centre bore on the sliding block is connected with the bottom of the telescoping cylinder；
The mechanical arm is by the steel wire rope positive and negative rotation and pulls the telescoping cylinder to move forward and backward, so as to drive institute
Claw is stated to move forward and backward；And drive the drive pin to be slided in chute using the telescopic cylinder, so as to drive the claw
Around the rotation of claw pivoted lever, and then realize the opening and closing of claw.
The panoramic table is that step realization is progressively rotated with 90 ° using the rotary cylinder, so that the manipulator
Arm group can realize the material synchronous driving of four stations.
Compared with the prior art, beneficial effects of the present invention are embodied in：
1st, coiling shafting of the invention is made up of four groups of rolls, and coiling shafting only need to be by a servomotor come real
The rotating of existing coiling shafting steel wire rope, so that mechanical arm synchronization telescope, compact conformation, power consumption reduction；
2nd, the stationary cylinder and telescoping cylinder in mechanical arm group of the present invention are all hollow, reduce the quality of mechanical arm；
Compared to traditional joint arm manipulator, overall revolution inertia is reduced, safe operation is reliable and stable；
3rd, panoramic table of the present invention is that step realization is progressively rotated with 90 ° using rotary cylinder, so that the manipulator
Arm group realizes the material synchronous driving of four stations, occupies little space, and automaticity is high, improves production efficiency, saves
Labour, reduces production cost.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the coiling shafting structure schematic diagram of the present invention；
Fig. 3 is the mechanical arm structural representation of the present invention；
Fig. 4 is the mechanical arm sectional view of the present invention；
Fig. 5 is the panoramic table structural representation of the present invention；
Label in figure：1 pedestal；2 panoramic tables；3 support frames；4 steel wire ropes；5 mechanical arm supports；6 stationary cylinders；7 telescoping cylinders；
8 melon seeds supports；9 telescopic cylinders；10 claw pivoted levers；11 claws；12 reels；13 shaft couplings；14 servomotors；15 bevel gears
Axle；16 bearings；17 drive pins；18 sliding blocks；19 second pulleys；20 first pulleys；21 adjustable spring groups；22 rotary cylinders.
Embodiment
Below in conjunction with the accompanying drawings, the present invention is further illustrated by embodiment.
Referring to Fig. 1, the mechanical hand of four stations of the present embodiment includes：Pedestal 1, panoramic table 2, coiling shafting, support frame 3, machine
Tool arm group；
Panoramic table 2 is provided with pedestal 1, and is connected by rotary cylinder 22 so that panoramic table 2 can be rotated freely；
Support frame 3 is fixedly installed on panoramic table 2, the panoramic table 2 of the lower section of support frame 3 is provided with coiling shafting, support frame 3
Upper support have mechanical arm group；
Mechanical arm group is turned to by panoramic table 2, and realizes using coiling shafting the flexible behaviour on four direction
Make.
Referring to Fig. 2, the coiling shafting of the four station manipulators of the present embodiment is made up of four groups of rolls, any one around
Bobbin includes：Reel 12, bearing 16, bevel gear shaft 15, steel wire rope 4；
Bevel gear shaft 15 is fixed on panoramic table 2 by bearing 16, and reel 12 is set with bevel gear shaft 15；Around
Steel wire rope 4 is wound with line wheel 12；
The top gear of the bevel gear shaft 15 of four groups of rolls intermeshes, and drives one of them by servomotor 14
The bevel gear shaft 15 of roll is rotated, so as to drive the bevel gear shaft synchronous axial system of other three rolls so that bevel gear shaft
On reel 12 can drive the positive and negative rotation of steel wire rope 4 thereon.
Referring to Fig. 3 and Fig. 4, the mechanical arm group of the four station manipulators of the present embodiment is made up of four mechanical arms；
Any one mechanical arm includes：Mechanical arm support 5, stationary cylinder 6, telescoping cylinder 7, claw support 8, telescopic cylinder 9, claw are returned
Bull stick 10, claw 11, drive pin 17, adjustable spring group 21, first pulley 20, second pulley 19, sliding block 18, with one of machine
Tool arm is specific embodiment：
Stationary cylinder 6 is fixed on support frame 3 by mechanical arm support 5, and telescoping cylinder 7 is cased with stationary cylinder 6, flexible
The top of cylinder 7 is fixedly installed telescopic cylinder 9 by claw support 8, and claw revolution is vertically arranged with the front end of claw support 8
Bar 10, claw 11 is connected with the top of telescopic cylinder 9, and claw pivoted lever 10 passes through the rotating central hole of the end of claw 11,
The afterbody of claw 11 is provided with chute, and chute is connected by drive pin 17 with the top of telescopic cylinder 9, and telescopic cylinder 9 is pushed away
Dynamic drive pin 17 is slided in the afterbody chute of claw 11, so that claw 11 is rotated around claw pivoted lever 10, and then realizes claw
11 pick-and-place materials.
Sliding block 18 is vertically arranged in stationary cylinder 6, centre bore is provided with sliding block 18, the side of sliding block 18, which passes through, stretches
Groups of springs 21 is butted on the inside bottom of stationary cylinder 6, and opposite side is butted on the exterior bottom of telescoping cylinder 7 also by adjustable spring group 21；
First pulley 20 is provided with sliding block 18, second pulley 19 is set in the inside bottom of stationary cylinder 6；
Steel wire rope 4 passes through the aperture of the bottom of stationary cylinder 6 and had mercy on by first pulley 20 to second pulley 19, is then passed through sliding
Centre bore on block 18 is connected with the bottom of telescoping cylinder 7；
Mechanical arm is by the positive and negative rotation of steel wire rope 4 and pulls telescoping cylinder 7 to move forward and backward, so that shifting before and after driving claw 11
It is dynamic, and slided using the driving drive pin 17 of telescopic cylinder 9 in chute, so as to drive the claw 11 around claw pivoted lever 10
Rotation, and then realize that the opening and closing of claw 11, claw 11 are shunk after capturing material to the centre of gyration.
Referring to Fig. 5, the panoramic table 2 of the four station manipulators of the present embodiment is realized using rotary cylinder 22 with 90 ° for a step
Progressively rotate, mechanical arm group is shunk simultaneously after material has been captured, rotary cylinder 22 is rotated by 90 °, enter mechanical arm group
Next station, after the elongation of mechanical arm group, puts down material, so that mechanical arm group can realize four works in specified location
The material synchronous driving of position.
The workflow of the present embodiment is as follows：
Referring to Fig. 1, Fig. 4, servomotor 14 is rotated forward, and drives the one of bevel gear shaft 15 of coiling shafting to rotate forward, and passes through cone
The engaged transmission of gear, so as to drive the bevel gear shaft synchronous axial system of other three rolls so that the coiling on bevel gear shaft
Wheel 12 can loosen steel wire rope 4, and under the effect of the elastic force of adjustable spring group 21, mechanical arm group is flexed outward simultaneously, reaches specific bit
Postpone, claw 11 grips respective material in the presence of telescopic cylinder 9；
Servomotor 14 is inverted, and drives the one of bevel gear shaft 15 of coiling shafting to invert, and is passed by the engagement of bevel gear
It is dynamic, so as to drive the bevel gear shaft synchronous axial system of other three rolls so that the reel 12 on bevel gear shaft can shrink steel
Cord 4, under the pulling force effect of steel wire rope 4, mechanical arm group is shunk inwards simultaneously；
Rotary cylinder 22 is rotated by 90 °, and drives panoramic table 2 to be rotated by 90 °, so that each mechanical arm of mechanical arm group is arrived
Up to next processing stations；
Servomotor 14 is rotated forward, and drives the one of bevel gear shaft 15 of coiling shafting to rotate forward, and is passed by the engagement of bevel gear
It is dynamic, so as to drive the bevel gear shaft synchronous axial system of other three rolls so that the reel 12 on bevel gear shaft can loosen steel
Cord 4, under the effect of the elastic force of adjustable spring group 21, mechanical arm group is flexed outward simultaneously, is reached after specified location, claw 11 exists
In the presence of telescopic cylinder 9, respective material is put down；
Servomotor 14 is inverted, and drives the one of bevel gear shaft 15 of coiling shafting to invert, and is passed by the engagement of bevel gear
It is dynamic, so as to drive the bevel gear shaft synchronous axial system of other three rolls so that the reel 12 on bevel gear shaft can shrink steel
Cord 4, under the pulling force effect of steel wire rope 4, mechanical arm group is shunk inwards simultaneously, is repeated above step and is carried out circulation work.
Claims (2)
1. a kind of four stations manipulator, it is characterised in that：Including pedestal (1), panoramic table (2), coiling shafting, support frame (3), machine
Tool arm group；
Panoramic table (2) is provided with the pedestal (1), and is connected by rotary cylinder (22) so that the panoramic table (2)
Freely rotate；
Support frame (3) is fixedly installed on the panoramic table (2)；Panoramic table (2) below support frame as described above (3) is provided with
The coiling shafting；There is the mechanical arm group in the upper support of support frame as described above (3)；
The mechanical arm group is turned to by the panoramic table (2), and realizes all directions using the coiling shafting
On scaling operation；
The coiling shafting is made up of four groups of rolls, and any one roll includes：Reel (12), bearing (16), cone
Gear shaft (15), steel wire rope (4)；
The bevel gear shaft (15) is fixed on the panoramic table (2) by bearing (16), is covered on the bevel gear shaft (15)
Equipped with the reel (12)；The steel wire rope (4) is wound with the reel (12)；
The top gear of the bevel gear shaft (15) of four groups of rolls intermeshes, and by servomotor (14) driving wherein
The bevel gear shaft (15) of one roll is rotated, so as to drive the bevel gear shaft synchronous axial system of other three rolls so that cone
Reel (12) on gear shaft can drive steel wire rope (4) positive and negative rotation thereon；
The mechanical arm group is made up of four mechanical arms；Any one mechanical arm includes：Mechanical arm support (5),
Stationary cylinder (6), telescoping cylinder (7), claw support (8), telescopic cylinder (9), claw pivoted lever (10), claw (11), drive pin
(17), adjustable spring group (21), first pulley (20), second pulley (19), sliding block (18)；
The stationary cylinder (6) is fixed on support frame as described above (3) by the mechanical arm support (5), in the stationary cylinder (6)
Inner sleeve has the telescoping cylinder (7)；Described stretch is fixedly installed by the claw support (8) at the top of the telescoping cylinder (7)
Contracting cylinder (9), claw pivoted lever (10) is vertically arranged with the front end of the claw support (8)；In the telescopic cylinder (9)
Top is connected with the claw (11), and the claw pivoted lever (10) passes through the rotating central hole of the claw (11) end；
The afterbody of the claw (11) is provided with chute, and the chute passes through the top of drive pin (17) and the telescopic cylinder (9)
It is connected；
The sliding block (18) is vertically arranged in the stationary cylinder (6), centre bore is provided with the sliding block (18)；The cunning
The side of block (18) is butted on the inside bottom of the stationary cylinder (6) by the adjustable spring group (21)；Opposite side is also by institute
State the exterior bottom that adjustable spring group (21) is butted on the telescoping cylinder (7)；
First pulley (20) is provided with the sliding block (18), second pulley is set in the inside bottom of the stationary cylinder
(19)；
The steel wire rope (4) passes through the aperture of the stationary cylinder (6) bottom and had mercy on by first pulley (20) to second pulley
(19) after, the centre bore being then passed through on the sliding block (18) is connected with the bottom of the telescoping cylinder (7)；
The mechanical arm is by the steel wire rope (4) positive and negative rotation and pulls the telescoping cylinder (7) to move forward and backward, so as to drive
The claw (11) moves forward and backward；And drive the drive pin (17) to be slided in chute using the telescopic cylinder (9), so that
Drive the claw (11) to be rotated around claw pivoted lever (10), and then realize the opening and closing of claw (11).
2. four stations manipulator according to claim 1, it is characterized in that：The panoramic table (2) utilizes the rotary cylinder
(22) it is that step realization is progressively rotated with 90 °, so that the mechanical arm group can realize that the material of four stations is synchronously passed
Send.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610356587.9A CN105773583B (en) | 2016-05-20 | 2016-05-20 | A kind of four station manipulators |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610356587.9A CN105773583B (en) | 2016-05-20 | 2016-05-20 | A kind of four station manipulators |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105773583A CN105773583A (en) | 2016-07-20 |
| CN105773583B true CN105773583B (en) | 2017-09-26 |
Family
ID=56379474
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610356587.9A Expired - Fee Related CN105773583B (en) | 2016-05-20 | 2016-05-20 | A kind of four station manipulators |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105773583B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737675A (en) * | 2016-12-27 | 2017-05-31 | 苏州祥弘源电子科技有限公司 | A kind of express delivery sorting manipulator arm based on sensing technology |
| CN109470591A (en) * | 2017-09-07 | 2019-03-15 | 中冶长天国际工程有限责任公司 | Rotary type online moisture detector and its detection method |
| CN114029775A (en) * | 2021-12-09 | 2022-02-11 | 济南昊中自动化有限公司 | Four-station rotary table with overturning function |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5139191B2 (en) * | 2008-07-29 | 2013-02-06 | 川崎重工業株式会社 | Robot equipment for article transfer |
| CN102528353B (en) * | 2012-02-29 | 2014-06-18 | 黄一淼 | Full-automatic multi-station welding system |
| CN203092564U (en) * | 2013-01-11 | 2013-07-31 | 东莞市安利通用机械设备有限公司 | Production line multi-station mechanical hand |
| CN103624785B (en) * | 2013-12-12 | 2016-04-20 | 青岛理工大学 | A kind of manipulator controlled based on bracing wire |
| CN104785655A (en) * | 2014-12-03 | 2015-07-22 | 佛山市艾乐博机器人科技有限公司 | Feeding and discharging mechanical arm and device for stamping process |
| CN205600719U (en) * | 2016-05-20 | 2016-09-28 | 合肥工业大学 | Quadruplex position manipulator |
-
2016
- 2016-05-20 CN CN201610356587.9A patent/CN105773583B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN105773583A (en) | 2016-07-20 |
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