CN106002928A - Multi-arm rotary carrying device - Google Patents
Multi-arm rotary carrying device Download PDFInfo
- Publication number
- CN106002928A CN106002928A CN201610570799.7A CN201610570799A CN106002928A CN 106002928 A CN106002928 A CN 106002928A CN 201610570799 A CN201610570799 A CN 201610570799A CN 106002928 A CN106002928 A CN 106002928A
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- Prior art keywords
- arm
- gear
- cradle head
- spherical
- attached
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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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/086—Gripping heads and other end effectors having finger members with means for synchronizing the movements of the fingers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of carrying, in particular to a multi-arm rotary carrying device. The multi-arm rotary carrying device comprises parallel synchronous acting mechanical clamps, ball gear mechanical joints, extension mechanical arms, rotating devices and transfer devices. The parallel synchronous acting mechanical clamps are positioned at the tail ends of the ball gear mechanical joints; the ball gear mechanical joints are positioned between the extension mechanical arms and the parallel synchronous acting mechanical clamps, so that the parallel synchronous acting mechanical clamps are more flexible in object grabbing and placement; the extension mechanical arms are mounted on the rotating devices; each rotating device can enable three extension mechanical arms to rotate around rotating centers; scissor fork mechanisms are designed in the extension mechanical arms, and can change self lengths of the mechanical arms according to requirements; and the rotating devices are positioned on the transfer devices, and can move on the transfer devices. The multi-arm rotary carrying device can enable the object transfer work to become more convenient and efficient, and solves such problems as high labor intensity of carrying workers, low carrying efficiency and high carrying cost.
Description
Technical field
The present invention relates to carrying field, specifically a kind of multi-arm rotary conveying device.
Background technology
At present, the later process of the industry such as the food of China, medicine, express delivery the most all include shaped article automatic packaging,
The operations such as sorting, vanning, piling and accumulating, these operations use craft or semi-hand operation mostly, and production efficiency is low, labor
Fatigue resistance is big, there is secondary pollution hidden danger.In addition, for chemical industry, it relates to oil, coating, metallurgy, energy
Multiple fields such as source, light industry, environmental protection, many products have the characteristics such as inflammable, explosive, poisonous and corrosion, this series products because of
It has high risk feature, and therefore safety problem is the emphasis that chemical industry requirements of one's work consider all the time.
Along with the development in epoch, efficiently, quickly, safety be the major requirement of production process, will be the most advanced, the most flexible,
It has been extremely urgent that Handling device in hgher efficiency applies to above-mentioned field, but the Handling device in current China market mostly is
The device of Single Mechanical arm work, the quantity of mechanical arm badly influences the work efficiency of Handling device, simultaneously as wait to remove
The complexity of fortune article causes the work efficiency of Single Mechanical arm Handling device to decline further.
For problem above, in the urgent need to a kind of Handling device with new work characteristics, i.e. a kind of multi-arm rotary conveying
Device, it can be liberated surplus labour force, improve production efficiency, promotes production automation level and ensures production security etc.,
Can be widely applied to relate to multiple fields of product carrying.
Summary of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of multi-arm rotary conveying device, it is possible to achieve Duo Geling
Efficient, the safety carrying of territory product.
The technical problem to be solved realizes by the following technical solutions.
A kind of multi-arm rotary conveying device, including include six parallel same dynamic formula machineries folders, six spherical gear mechanical joints,
Six telescopic mechanical arms, two rotary apparatuss and transporter, it is characterised in that: described parallel same dynamic formula machinery folder position
In an end of spherical gear mechanical joint, and the end that parallel same dynamic formula machinery presss from both sides with spherical gear mechanical joint is fixedly connected with, flat
Row can be used for gripping and placing object with dynamic formula machinery folder；Described spherical gear mechanical joint is positioned at telescopic mechanical arm with parallel
Between pressing from both sides with dynamic formula machinery, and another end of spherical gear mechanical joint is fixedly connected with telescopic mechanical arm, spherical gear machinery
It is more flexible with when placing object that joint can make parallel same dynamic formula machinery be clipped in crawl；Described telescopic mechanical arm is installed on rotation
On rotary device, and telescopic mechanical arm is fixedly connected with rotary apparatus, and each rotary apparatus can make three telescopic mechanical arms around rotation
Turn center to be rotated；Described telescopic mechanical arm is internally provided with scissor-type mechanism, this mechanism can as requested and
Change the length of mechanical arm itself；Described rotary apparatus is positioned on transporter, and transporter is provided with transhipment guide rail,
Rotary apparatus can move along transhipment guide rail.
Described parallel same dynamic formula machinery folder include two panels holder, two panels clamping plate, connecting shaft, two one-level connecting rods, two
Two connect lever, motor I, sensor, two worm gears, worm screw, pressure-strain sheets, one end of one-level connecting rod with
Floor in the middle of clamping plate outer surface is connected by bolt, and described clamping plate inner face is rubber layer structure, and this structure ensure that
Stability during clamping plate gripping object, pressure-strain sheet, between clamping plate and rubber layer, is used for detecting parallel same dynamic formula machinery
It is clipped in dynamics when capturing object, it is ensured that parallel same dynamic formula machinery is clipped in while grabbing steady object will not damage object, clamping plate
Remain parallel in gripping with when placing object, can avoid treating the destruction of carry an object, one-level the most to a certain extent
The other end of connecting rod is attached by pin and two grades of connecting rods；Two grades of connecting rods are positioned at holder inner surface, and two cascades
Extension bar is connected by pin with holder；Worm gear is between two panels holder, and described worm gear is provided with extension bar, extension bar with
One-level connecting rod is attached by pin, and worm gear is connected by thin axle with holder；Worm screw between two worm gears, snail
Worm and wheel is meshed, and worm screw one end is attached by shaft coupling with motor I；Motor I divides with sensor
It is not placed in holder outer surface；Two panels holder is attached by bolt with connecting shaft.
Described spherical gear mechanical joint include a pair spherical involute gear, spherical gear support arm, spherical gear inner support, two
Spherical gear projecting shaft, two through straight line screw mandrel motors, two U-shaped supports, two spherical gear projecting shafts are by weldering
Connect and be fixedly connected with pivoted arm and connecting shaft respectively；Spherical gear support arm is placed in outside spherical gear inner support, and spherical gear support arm with
Spherical gear inner support is attached by pin；One spherical involute gear is positioned at inside spherical gear inner support, and in spherical gear
Support is attached by pin with this spherical involute gear；U-shaped support base is attached by pin with pivoted arm；Connect
Line between spherical gear support arm and two pins of spherical gear inner support with run through another spherical involute gear projecting shaft
Pin centrage perpendicular；Through straight line screw mandrel motor is attached by pin with U-shaped support side；Through
Screw mandrel end on formula straight line screw mandrel motor is attached by spherical hinge with spherical gear support arm, and screw mandrel passes through push-pull ball
Gear support arm and then drive spherical involute gear movement, compare conventional gears mechanism and only possess the spy of a transmission degree of freedom
Point, spherical gear mechanism has two transmission degree of freedom, and motion feature shows as a pair joint ball and makees pure rolling, therefore can meet
The requirement of bionic mechanical movable joint, makes mechanical arm more flexible when capturing goods.
Described telescopic mechanical arm includes that the first cradle head, the second cradle head, the 3rd cradle head, the 4th rotation are closed
Joint, the first linking arm, the second linking arm, telescopic arm, pivoted arm, swivel base, the first linking arm is positioned at above swivel base, and swivel base
It is connected by the first cradle head with the first linking arm；Telescopic arm is positioned at above the first linking arm, and telescopic arm and first is even
Connect arm to be connected by the second cradle head；Telescopic arm and the second linking arm are connected by the 3rd cradle head；Second connects
Arm is connected by the 4th cradle head with pivoted arm；Described the first cradle head, the second cradle head, the 3rd cradle head,
4th cradle head all includes ring gear, motor III, spur gear, two bevel gears, two bearings II, axles, internal tooth
Circle is separately mounted to the first cradle head, the second cradle head, the 3rd cradle head, the inside of the 4th cradle head；One
Bevel gear is arranged in the rotating shaft of motor；Another bevel gear is mounted on an axle by key with spur gear；Bearing II is installed
On axle, and bearing II is fixed on inside cradle head；Spur gear is meshed by the gear teeth with ring gear；Motor III point
It is not connected by bolt with the first cradle head, the second cradle head, the 3rd cradle head, the 4th cradle head.Described
Telescopic arm include scissor-type mechanism, hydraulic stem, telescopic arm outer wall, telescopic arm inwall, stopper slot, spacing hole, two songs
Axle, scissor-type mechanism upper end is attached by pin with spacing hole, and scissor-type mechanism lower end is carried out by pin with stopper slot
Connect；Hydraulic stem two ends are attached by pin with bent axle, and bent axle is attached by pin with scissor-type mechanism；Flexible
Arm inboard wall outer surface is provided with chute II, and telescopic arm outer wall is enclosed within telescopic arm inner wall outside, and telescopic arm outer wall can be along chute
II slides, and scissor-type mechanism can stretch according to removing the transhipment distance pressed from both sides with parallel same dynamic formula machinery of object, sharp
The radius of clean-up of mechanical arm is expanded so that mechanical arm has bigger extensibility, can make end by its excellent flexible feature
The working range of end executor obtains bigger extension.
Described rotary apparatus includes that three pieces of gripper shoes, rotary shafts, gripper shoe connect by being weldingly connected with rotary shaft, and three pieces
Angle between gripper shoe is 120 °；Described rotary shaft is positioned at above straight line slide unit, and the slide block on straight line slide unit and rotation
Rotating shaft is attached by bolt, and rotary shaft can move along transhipment guide rail；Gripper shoe is positioned at below swivel base, and supports
Plate is attached by bolt with swivel base.
Described transporter include two transhipment supports, two to transhipment guide rail, two straight line slide units, four feed screw nuts,
Article four, screw mandrel, II, eight bearings I of four motors, screw mandrel is connected by shaft coupling with motor II；Bearing I
Being arranged on transhipment support two ends, screw mandrel two ends pass bearing I；Feed screw nut is positioned at below straight line slide unit two ends, and screw mandrel spiral shell
Mother is attached by bolt below straight line slide unit two ends；Screw mandrel passes feed screw nut；Straight line slide unit is provided with below two ends
Chute I, transhipment guide rail is through chute I, and transhipment guide rail is fixedly connected by screw with transhipment support, transports support
On the one hand straight line slide unit can be transported, on the other hand whole Handling device can be supported.
The invention has the beneficial effects as follows:
(1) all mechanical arms of the present invention can carry out capturing and the work placing object within the same time period, based on this,
The present invention has higher work efficiency.
(2) the spherical gear mechanical joint of the present invention has two transmission degree-of-freedom joint designs, and motion feature shows as a pair
Pure rolling made by joint ball, therefore substantially increases the motility of bionic mechanical movable joint.
(3) mechanical arm of the present invention has bigger retractility, and the flexible feature utilizing scissor-type mechanism excellent can make this
The working range of invention obtains bigger extension.
(4) the parallel same dynamic formula machinery of the present invention is clipped in gripping and remains parallel with clamping plate when placing object, can avoid
Treat the destruction of carry an object.
Accompanying drawing explanation
It is presented herein below and combines accompanying drawing and example the present invention is further described.
Fig. 1 is the perspective view of the present invention；
Fig. 2 be the present invention parallel same dynamic formula machinery folder perspective view；
Fig. 3 is the perspective view of spherical gear mechanical joint of the present invention；
Fig. 4 is the perspective view of the telescopic mechanical arm of the present invention；
Fig. 5 is the perspective view of rotary apparatus of the present invention；
Fig. 6 is the perspective view of transporter of the present invention；
Fig. 7 is the top view of the present invention parallel same dynamic formula machinery folder；
Fig. 8 is the full sectional view of spherical gear mechanical joint of the present invention；
Fig. 9 is the A-A sectional view of Fig. 3 of the present invention；
Figure 10 is the left view of the telescopic mechanical arm of the present invention；
Figure 11 is office's sectional view of telescopic arm of the present invention；
Figure 12 is the perspective view within cradle head of the present invention；
Figure 13 is cradle head internal structure front view of the present invention；
Figure 14 is the front view of scissor-type mechanism of the present invention；
Figure 15 is that the present invention transports support top view.
In figure: the most parallel same dynamic formula machinery presss from both sides, 2. spherical gear mechanical joint, the most telescopic mechanical arm, 4. rotary apparatus, 5.
Transporter, 101. holders, 102. clamping plate, 103. connecting shafts, 104. one-level connecting rods, 105. 2 grades of connecting rods, 106.
Motor I, 107. sensors, 108. worm gears, 109. worm screws, 110. pressure-strain sheets, 1081. extension bars, 201.
Spherical involute gear, 202. spherical gear support arms, 203. spherical gear inner supports, 204. spherical gear projecting shafts, 205. is through
Straight line screw mandrel motor, 206.U type support, 301. first cradle heads, 302. second cradle heads, 303. the 3rd turns
Movable joint, 304. the 4th cradle heads, 305. first linking arms, 306. second linking arms, 307. telescopic arms, 308. pivoted arms,
309. swivel bases, 310. ring gears, 311. motors III, 312. spur gears, 313. bevel gears, 314. bearings II, 315.
Axle, 3071. scissor-type mechanisms, 3072. hydraulic stems, 3073. telescopic arm outer walls, 3074. telescopic arm inwalls, 3075. is spacing
Groove, 3076. spacing holes, 3077. bent axles, 3078. chutes II, 401. gripper shoes, 402. rotary shafts, 501. transhipment supports,
502. transhipment guide rails, 503. straight line slide units, 504. feed screw nuts, 505. screw mandrels, 506. motors II, 507. bearings I,
5031. chute I.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below in conjunction with
It is specifically illustrating, the present invention is expanded on further.
As shown in Fig. 1, Fig. 6 and Figure 10, a kind of multi-arm rotary conveying device, including including six parallel same dynamic formula machinery folders
1, six spherical gear mechanical joint 3, two rotary apparatuss 4 of 2, six telescopic mechanical arms and transporter 5, described is flat
Row is positioned at an end of spherical gear mechanical joint 2 with dynamic formula machinery folder 1, and parallel same dynamic formula machinery folder 1 is mechanical with spherical gear
The end in joint 2 is fixedly connected with, and parallel same dynamic formula machinery folder 1 can be used for gripping and placing object；Described spherical gear mechanical joint
2 between telescopic mechanical arm 3 with parallel same dynamic formula machinery folder 1, and another end of spherical gear mechanical joint 2 is with flexible
Formula mechanical arm 3 is fixedly connected with, and spherical gear mechanical joint 2 can make parallel same dynamic formula machinery folder 1 cleverer when capturing with placement object
Live；Described telescopic mechanical arm 3 is installed on rotary apparatus 4, and telescopic mechanical arm 3 is fixedly connected with rotary apparatus 4, rotation
Rotary device 4 can make three telescopic mechanical arms 3 be rotated around center of rotation；Described telescopic mechanical arm 3 is internal to be set
Being equipped with scissor-type mechanism 3071, this mechanism can change the length of mechanical arm itself as requested；Described rotary apparatus 4
On transporter 5, transporter 5 is provided with transhipment guide rail 502, and rotary apparatus 4 can move along transhipment guide rail 502.
As shown in Fig. 2, Fig. 7, described parallel same dynamic formula machinery folder 1 includes two panels holder 101, two panels clamping plate 102, connects
Axle 104, two two grades of connecting rods 105 of 103, two one-level connecting rods, motor I 106,107, two snails of sensor
Floor in the middle of wheel 108, worm screw 109, pressure-strain sheet 110, one end of one-level connecting rod 104 and clamping plate 102 outer surface leads to
Crossing bolt to be connected, described clamping plate 102 inner surface is rubber layer structure, and this structure ensure that when clamping plate 102 grip object
Stability, pressure-strain sheet 110, between clamping plate 102 and rubber layer, is used for detecting parallel same dynamic formula machinery folder 1 and is capturing
The dynamics of object, it is ensured that parallel same dynamic formula machinery folder 1 will not damage object while grabbing steady object, and clamping plate 102 are in gripping
Remain parallel with when placing object, can avoid treating the destruction of carry an object, one-level connecting rod the most to a certain extent
The other end of 104 is attached by pin and two grades of connecting rods 105；Two grades of connecting rods 105 are positioned at holder 101 inner surface, and
Two grades of connecting rods 105 are connected by pin with holder 101；Worm gear 108 between upper and lower two panels holder 101, described worm gear
108 are provided with extension bar 1081, and extension bar 1081 is attached by pin with one-level connecting rod 104, and worm gear 108 and folder
Seat 101 is connected by thin axle；Worm screw 109 is between two worm gears 108, and worm screw 109 is meshed with worm gear 108, and worm screw
109 one end are attached by shaft coupling with motor I 106；Motor I 106 and sensor 107 are respectively placed in holder
101 outer surfaces；Two panels holder 101 is attached by bolt with connecting shaft 103.
As shown in Fig. 2, Fig. 3, Fig. 4, Fig. 8 and Fig. 9, described spherical gear mechanical joint 2 include a pair spherical involute gear 201,
Spherical gear support arm 202,204, two the through straight line screw mandrel steppings of 203, two spherical gear projecting shafts of spherical gear inner support
205, two U-shaped supports 206 of motor, two spherical gear projecting shafts 204 by welding respectively with pivoted arm 308 and connecting shaft 103 phase
It is connected；Spherical gear support arm 202 is placed in outside spherical gear inner support 203, and spherical gear support arm 202 and spherical gear inner support
203 are attached by pin；One spherical involute gear 201 is positioned at inside spherical gear inner support 203, and props up in spherical gear
Frame 203 is attached by pin with this spherical involute gear 201；U-shaped support 206 base is carried out by pin with pivoted arm 308
Connect；The line connected between spherical gear support arm 202 and two pins of spherical gear inner support 203 is gradually opened with running through another
The pin centrage of thread ball gear projecting shaft 204 is perpendicular；Through straight line screw mandrel motor 205 and U-shaped support 206 side
It is attached by pin；Screw mandrel end on through straight line screw mandrel motor 205 and spherical gear support arm 202 pass through ball
Hinge is attached, and screw mandrel is by push-pull ball gear support arm 202 and then drives spherical involute gear 201 to move, and compares tradition
Gear mechanism only possesses the feature of a transmission degree of freedom, and spherical involute gear mechanism has two transmission degree of freedom, motion spy
Levy and show as a pair joint ball and make pure rolling, therefore can meet the requirement of bionic mechanical movable joint, make mechanical arm capture goods
During thing more flexible.
As shown in Fig. 4, Figure 10, Figure 11, Figure 12, Figure 13 and Figure 14, described telescopic mechanical arm 3 includes that the first rotation is closed
Joint 301, second cradle head the 302, the 3rd cradle head the 303, the 4th cradle head the 304, first linking arm 305, second
Linking arm 306, telescopic arm 307, pivoted arm 308, swivel base 309, the first linking arm 305 is positioned at above swivel base 309, and swivel base 309
It is connected by the first cradle head 301 with the first linking arm 305；Telescopic arm 307 is positioned at above the first linking arm 305, and stretches
Contracting arm 307 is connected by the second cradle head 302 with the first linking arm 305；Telescopic arm 307 passes through with the second linking arm 306
3rd cradle head 303 is connected；Second linking arm 306 is connected by the 4th cradle head 304 with pivoted arm 308；Described
First cradle head the 301, second cradle head the 302, the 3rd cradle head the 303, the 4th cradle head 304 all includes ring gear
310, motor III 311, spur gear 312, two bevel gears 313, two bearings II 314, axles 315, ring gear 310
It is separately mounted to first cradle head the 301, second cradle head the 302, the 3rd cradle head the 303, the 4th cradle head 304
Internal；One bevel gear 313 is arranged in the rotating shaft of motor III 311；Another bevel gear 313 passes through with spur gear 312
Key is arranged on axle 315；Bearing II 314 is arranged on axle 315, and bearing II 314 is fixed on inside cradle head；Straight-tooth
Wheel 312 is meshed by the gear teeth with ring gear 310；Motor III 311 rotates with the first cradle head 301, second respectively and closes
Joint the 302, the 3rd cradle head the 303, the 4th cradle head 304 is connected by bolt.Described telescopic arm 307 includes scissor
Formula mechanism 3071, hydraulic stem 3072, telescopic arm outer wall 3073, telescopic arm inwall 3074, stopper slot 3075, spacing hole 3076,
Two bent axles 3077, scissor-type mechanism 3071 upper end is attached by pin with spacing hole 3076, scissor-type mechanism 3071 times
End is attached by pin with stopper slot 3075；Hydraulic stem 3072 two ends are attached by pin with bent axle 3077, bent axle
3077 are attached by pin with scissor-type mechanism 3071；Telescopic arm inwall 3074 outer surface is provided with chute II 3078, stretches
Contracting arm outer wall 3073 is enclosed within outside telescopic arm inwall 3074, and telescopic arm outer wall 3073 can slide along chute II 3078,
Scissor-type mechanism 3071 can stretch according to the distance removed between transhipment object with parallel same dynamic formula machinery folder 1, utilizes
Its excellent flexible feature expands the radius of clean-up of mechanical arm so that mechanical arm has bigger extensibility, can make end
The working range of executor obtains bigger extension.
As shown in Figure 4, Figure 5 and Figure 6, described rotary apparatus 4 includes three pieces of gripper shoes 401, rotary shaft 402, gripper shoe 401
Connect by being weldingly connected with rotary shaft 402, and the angle between three pieces of gripper shoes 401 is 120 °；Described rotary shaft 402
Above straight line slide unit 503, and the slide block on straight line slide unit 503 is attached by bolt with rotary shaft 402, rotary shaft 402
Can move along transhipment guide rail 502；Gripper shoe 401 is positioned at below swivel base 309, and gripper shoe 401 is passed through with swivel base 309
Bolt is attached.
As shown in Fig. 6, Figure 15, described transporter 5 includes that two transhipment supports 501, two are to 502, two, guide rail of transhipment
504, four screw mandrels of 503, four feed screw nuts of straight line slide unit, II 506, eight bearings I 507 of 505, four motors,
Screw mandrel 505 is connected by shaft coupling with motor II 506；Bearing I 507 is arranged on transhipment support 501 two ends, screw mandrel 505
Two ends pass bearing I 507；Feed screw nut 504 is positioned at below straight line slide unit 503 two ends, and feed screw nut 504 and straight line slide unit
It is attached by bolt below 503 two ends；Screw mandrel 505 is through feed screw nut 504；Straight line slide unit 503 is provided with below two ends
Chute I 5031, transhipment guide rail 502 is through chute I 5031, and transhipment guide rail 502 is carried out by screw with transhipment support 501
Fixing connection, transhipment support 501 1 aspect can be transported straight line slide unit 503, on the other hand can be supported whole Handling device.
When work starts, first detected the position of object to be handled by the sensor 107 on parallel same dynamic formula machinery folder 1, will letter
Number pass to control system, then started working by one group of mechanical arm near object to be handled, should by a rotary apparatus 4
Three telescopic mechanical arm 3 linearly slide units 503 on device are transported to straight line slide unit 503 one end near object to be handled,
Then grip being taken the lead in the parallel same dynamic formula machinery folder 1 of its end by the telescopic mechanical arm 3 of on this rotary apparatus 4
Object, is detected the suitable dynamics used by parallel same dynamic formula machinery folder 1 by pressure-strain sheet 110, after gripping object completes, and should
Rotary apparatus 4 carries out fixed-axis rotation, another telescopic mechanical arm 3 grip with parallel same dynamic formula machinery thereon folder 1
Work, after all parallel same dynamic formula machinery folder 1 on rotary apparatus 4 all completes crawl task, it is along straight line slide unit 503
Move to the required place placed of object and carry out object placement work, equally, telescopic mechanical arm 3 on rotary apparatus 4 and its
The parallel same dynamic formula machinery folder 1 of end carries out object placement work, meanwhile, on another rotary apparatus 4 the most in turn
One group of telescopic mechanical arm 3 starts to grip object with parallel same dynamic formula machinery folder 1, it addition, according to practical situation, transporter
Motor II 506 on 5 drives screw mandrel 505 to move, such that it is able to change the position of two straight line slide units 503 so that carrying
Working convenient, by the cooperation of each device above, the present invention may finally realize the efficient carrying to object.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.Skilled person will appreciate that of the industry,
The present invention is not restricted to the described embodiments, the principle that the present invention is simply described described in above-described embodiment and description,
Without departing from the spirit and scope, the present invention also has various changes and modifications, and these changes and improvements all fall
Enter in scope of the claimed invention.The scope of protection of present invention is by appending claims and equivalent circle thereof
Fixed.
Claims (6)
1. a multi-arm rotary conveying device, including including six parallel same dynamic formula machineries folder (1), six spherical gear machineries
Joint (2), six telescopic mechanical arms (3), two rotary apparatuss (4) and transporter (5), it is characterised in that:
Described parallel same dynamic formula machinery folder (1) is positioned at an end of spherical gear mechanical joint (2), and parallel same dynamic formula machinery
Folder (1) is fixedly connected with the end of spherical gear mechanical joint (2)；Described spherical gear mechanical joint (2) is positioned at telescopic
Between mechanical arm (3) and parallel same dynamic formula machinery folder (1), and another end of spherical gear mechanical joint (2) with stretch
Contraction type mechanical arm (3) is fixedly connected with；Described telescopic mechanical arm (3) is installed on rotary apparatus (4), and telescopic
Mechanical arm (3) is fixedly connected with rotary apparatus (4)；Described telescopic mechanical arm (3) is internally provided with scissor-type mechanism
(3071)；Described rotary apparatus (4) is positioned on transporter (5)；Wherein:
Described parallel same dynamic formula machinery folder (1) include two panels holder (101), two panels clamping plate (102), connecting shaft (103),
Two one-level connecting rods (104), two two grades connecting rods (105), motor I (106), sensor (107), two
Individual worm gear (108), worm screw (109), pressure-strain sheet (110), one end of one-level connecting rod (104) and clamping plate (102)
Floor in the middle of outer surface is connected by bolt, and the other end of one-level connecting rod (104) passes through pin and two grades of connecting rods
(105) it is attached；Two grades of connecting rods (105) are positioned at holder (101) inner surface, and two grades of connecting rods (105) with
Holder (101) is connected by pin；Worm gear (108) is positioned between two panels holder (101), and worm gear (108) with folder
Seat (101) is connected by thin axle；Worm screw (109) is positioned between two worm gears (108), worm screw (109) and worm gear (108)
It is meshed, and worm screw (109) one end is attached by shaft coupling with motor I (106)；Motor I (106)
It is respectively placed in holder (101) outer surface with sensor (107)；Two panels holder (101) and connecting shaft (103) pass through spiral shell
Bolt is attached；
Described spherical gear mechanical joint (2) include a pair spherical involute gear (201), spherical gear support arm (202),
Spherical gear inner support (203), two spherical gear projecting shafts (204), two through straight lines screw mandrel motor (205),
Two U-shaped supports (206), two spherical gear projecting shafts (204) by welding respectively with pivoted arm (308) and connecting shaft (103)
It is fixedly connected with；Spherical gear support arm (202) is placed in spherical gear inner support (203) outside, and spherical gear support arm (202)
It is attached by pin with spherical gear inner support (203)；One spherical involute gear (201) is positioned at spherical gear inner support
(203) inner side, and spherical gear inner support (203) is attached by pin with this spherical involute gear (201)；U-shaped
Support (206) base is attached by pin with pivoted arm (308)；Connect spherical gear support arm (202) and spherical gear
Line between two pins of inner support (203) with in the pin running through another spherical involute gear projecting shaft (204)
Heart line is orthogonal；Through straight line screw mandrel motor (205) is carried out even by pin with U-shaped support (206) side
Connect；Screw mandrel end on through straight line screw mandrel motor (205) is entered by spherical hinge with spherical gear support arm (202)
Row connects；
Described telescopic mechanical arm (3) include the first cradle head (301), the second cradle head (302), the 3rd turn
Movable joint (303), the 4th cradle head (304), the first linking arm (305), the second linking arm (306), telescopic arm (307),
Pivoted arm (308), swivel base (309), the first linking arm (305) be positioned at swivel base (309) top, and swivel base (309) with
First linking arm (305) is connected by the first cradle head (301)；Telescopic arm (307) is positioned at the first linking arm (305)
Top, and telescopic arm (307) and the first linking arm (305) be connected by the second cradle head (302)；Telescopic arm
(307) it is connected by the 3rd cradle head (303) with the second linking arm (306)；Second linking arm (306) with turn
Arm (308) is connected by the 4th cradle head (304)；
Described rotary apparatus (4) includes three pieces of gripper shoes (401), rotary shaft (402), gripper shoe (401) and rotation
Axle (402) connects by being weldingly connected；Gripper shoe (401) be positioned at swivel base (309) lower section, and gripper shoe (401) with turn
Seat (309) is attached by bolt；
Described transporter (5) includes two transhipment supports (501), two sliding to transhipment guide rail (502), two straight lines
Platform (503), four feed screw nuts (504), four screw mandrels (505), II (506), eight bearings I of four motors
(507), screw mandrel (505) is connected by shaft coupling with motor II (506)；Bearing I (507) is arranged on and turns
Fortune support (501) two ends, screw mandrel (505) two ends pass bearing I (507)；It is sliding that feed screw nut (504) is positioned at straight line
Below platform (503) two ends, and feed screw nut (504) is attached by bolt with straight line slide unit (503) two ends；Silk
Bar (505) passes feed screw nut (504)；Chute I (5031) it is provided with, transhipment below straight line slide unit (503) two ends
Guide rail (502) passes chute I (5031), and transhipment guide rail (502) carries out solid with transhipment support (501) by screw
Fixed connection.
A kind of multi-arm rotary conveying device the most according to claim 1, it is characterised in that: described clamping plate (102)
Inner surface is rubber layer structure, and pressure-strain sheet (110) is between clamping plate and rubber layer.
A kind of multi-arm rotary conveying device the most according to claim 1, it is characterised in that: described worm gear (108)
Being provided with extension bar (1081), extension bar (1081) is attached by pin with one-level connecting rod (104).
A kind of multi-arm rotary conveying device the most according to claim 1, it is characterised in that: the first described rotation is closed
In joint (301), the second cradle head (302), the 3rd cradle head (303), the 4th cradle head (304) all include
Gear ring (310), motor III (311), spur gear (312), two bevel gears (313), two bearings II (314),
Axle (315), ring gear (310) be separately mounted to the first cradle head (301), the second cradle head (302), the 3rd
Cradle head (303), the inside of the 4th cradle head (304)；One bevel gear (313) is arranged on motor III (311)
Rotating shaft on；Another bevel gear (313) and spur gear (312) are arranged on axle (315) by key；Bearing II (314)
It is arranged on axle (315), and bearing II is fixed on inside cradle head；Spur gear (312) and ring gear (310)
It is meshed by the gear teeth；Motor III (311) respectively with the first cradle head (301), the second cradle head (302),
3rd cradle head (303), the 4th cradle head (304) are connected by bolt.
A kind of multi-arm rotary conveying device the most according to claim 1, it is characterised in that: described telescopic arm (307)
Including scissor-type mechanism (3071), hydraulic stem (3072), telescopic arm outer wall (3073), telescopic arm inwall (3074), limit
Position groove (3075), spacing hole (3076), two bent axles (3077), scissor-type mechanism (3071) upper end and spacing hole (3076)
Being attached by pin, scissor-type mechanism (3071) lower end is attached by pin with stopper slot (3075)；Hydraulic pressure
Bar (3072) two ends are attached by pin with bent axle (3077), bent axle (3077) and scissor-type mechanism (3071)
It is attached by pin；Telescopic arm inwall (3074) outer surface is provided with chute II (3078), telescopic arm outer wall (3073)
It is enclosed within telescopic arm inwall (3074) outside, and telescopic arm outer wall (3073) can slide along chute II (3078).
A kind of multi-arm rotary conveying device the most according to claim 1, it is characterised in that: described rotary shaft (402)
It is positioned at straight line slide unit (503) top, and straight line slide unit (503) is attached by bolt with rotary shaft (402).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610570799.7A CN106002928B (en) | 2016-07-19 | 2016-07-19 | A kind of multi-arm rotary conveying device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610570799.7A CN106002928B (en) | 2016-07-19 | 2016-07-19 | A kind of multi-arm rotary conveying device |
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| CN106002928A true CN106002928A (en) | 2016-10-12 |
| CN106002928B CN106002928B (en) | 2018-01-19 |
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| CN201610570799.7A Expired - Fee Related CN106002928B (en) | 2016-07-19 | 2016-07-19 | A kind of multi-arm rotary conveying device |
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| CN107157542A (en) * | 2017-06-28 | 2017-09-15 | 谢北平 | A kind of operating theater instruments |
| CN107363857A (en) * | 2017-08-16 | 2017-11-21 | 深圳果力智能科技有限公司 | A kind of manipulator and robot |
| CN107803818A (en) * | 2017-11-19 | 2018-03-16 | 蔡大宇 | A kind of mechanical arm device of intelligent control on lathe |
| CN108557450A (en) * | 2018-03-30 | 2018-09-21 | 联动优势电子商务有限公司 | A kind of logistic storage robot |
| CN108887254A (en) * | 2018-08-28 | 2018-11-27 | 倪晓燕 | A kind of agricultural plant protection comprehensive treatment equipment |
| CN109015619A (en) * | 2018-10-26 | 2018-12-18 | 安徽理工大学 | A kind of mechanical arm |
| CN109169588A (en) * | 2018-08-28 | 2019-01-11 | 倪晓燕 | A kind of promotion crop growthing development method |
| CN109519844A (en) * | 2018-11-20 | 2019-03-26 | 赵文富 | A kind of highway tunnel illumination equipment |
| CN109760010A (en) * | 2019-03-18 | 2019-05-17 | 鲁东大学 | A kind of multi-functional carrying robot |
| CN110525629A (en) * | 2019-07-26 | 2019-12-03 | 广东工业大学 | One kind can bending unmanned plane horn and unmanned plane |
| CN111496763A (en) * | 2020-04-27 | 2020-08-07 | 华中科技大学 | Multi-degree-of-freedom rotary mechanical claw clamping device based on cross sliding table |
| CN112045712A (en) * | 2020-09-11 | 2020-12-08 | 广州蓝爵音响设备有限公司 | Intelligent material handling equipment in workshop |
| CN112743514A (en) * | 2020-12-24 | 2021-05-04 | 华中科技大学 | Equipment suitable for automatic transportation and upset of acoustic resonance mixing container |
| CN114183082A (en) * | 2020-09-14 | 2022-03-15 | 中国石油天然气集团有限公司 | Electric control mechanical clamping jaw |
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| CN107803818A (en) * | 2017-11-19 | 2018-03-16 | 蔡大宇 | A kind of mechanical arm device of intelligent control on lathe |
| CN108557450A (en) * | 2018-03-30 | 2018-09-21 | 联动优势电子商务有限公司 | A kind of logistic storage robot |
| CN109169588A (en) * | 2018-08-28 | 2019-01-11 | 倪晓燕 | A kind of promotion crop growthing development method |
| CN108887254A (en) * | 2018-08-28 | 2018-11-27 | 倪晓燕 | A kind of agricultural plant protection comprehensive treatment equipment |
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| CN110525629A (en) * | 2019-07-26 | 2019-12-03 | 广东工业大学 | One kind can bending unmanned plane horn and unmanned plane |
| CN111496763A (en) * | 2020-04-27 | 2020-08-07 | 华中科技大学 | Multi-degree-of-freedom rotary mechanical claw clamping device based on cross sliding table |
| CN112045712A (en) * | 2020-09-11 | 2020-12-08 | 广州蓝爵音响设备有限公司 | Intelligent material handling equipment in workshop |
| CN114183082A (en) * | 2020-09-14 | 2022-03-15 | 中国石油天然气集团有限公司 | Electric control mechanical clamping jaw |
| CN112743514A (en) * | 2020-12-24 | 2021-05-04 | 华中科技大学 | Equipment suitable for automatic transportation and upset of acoustic resonance mixing container |
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| CN106002928B (en) | 2018-01-19 |
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