CN106181978A - A kind of new mechanical arm mechanism - Google Patents

A kind of new mechanical arm mechanism Download PDF

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Publication number
CN106181978A
CN106181978A CN201610674896.0A CN201610674896A CN106181978A CN 106181978 A CN106181978 A CN 106181978A CN 201610674896 A CN201610674896 A CN 201610674896A CN 106181978 A CN106181978 A CN 106181978A
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CN
China
Prior art keywords
guide rail
vertical
vertical movement
horizontal
fixed
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.)
Withdrawn
Application number
CN201610674896.0A
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Chinese (zh)
Inventor
朱震
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to CN201610674896.0A priority Critical patent/CN106181978A/en
Publication of CN106181978A publication Critical patent/CN106181978A/en
Withdrawn legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00Controls for manipulators
    • B25J13/08Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081Touching devices, e.g. pressure-sensitive
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00Controls for manipulators
    • B25J13/08Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0093Programme-controlled manipulators co-operating with conveyor means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023Cartesian coordinate type
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/901Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only

Abstract

The present invention provides a kind of new mechanical arm mechanism, including horizontal mobile mechanism, vertical movement mechanism, sucking disc mechanism and control system, described horizontal mobile mechanism is horizontally installed on the top of described conveyer belt, described vertical movement mechanism is vertically mounted on described horizontal mobile mechanism, described sucking disc mechanism is installed on the lower end of described vertical movement mechanism, described control system controls described horizontal mobile mechanism, vertical movement mechanism and sucking disc mechanism, described sucking disc mechanism includes cylinder auxiliary frame, rotary cylinder, sucker stand and Suction cup assembly, described cylinder auxiliary frame is fixed on the lower end of described vertical movement mechanism, it is articulated in bottom described cylinder auxiliary frame in the middle part of described rotary cylinder, described sucker stand is fixed on the middle part of described rotary cylinder, described Suction cup assembly is installed on described sucker stand.New mechanical arm mechanism of the present invention carries out rotating transfer to workpiece, has stable, accurate positioning, and automaticity is high, the advantage that work efficiency is high.

Description

A kind of new mechanical arm mechanism
Technical field
Present invention relates particularly to a kind of new mechanical arm mechanism.
Background technology
In spraying industry, the workpiece after spraying is typically transported to subsequent processing by conveyer belt and is processed, in transport During generally use the equipment such as mechanical hand or transfer mechanism that workpiece is shifted.Present mechanical hand or transfer equipment are all Workpiece carries out capturing transfer, and cut is caused, before being additionally, since in the surface that directly workpiece may have been sprayed by grabbing workpiece Rear operation is different, sometimes needs to change the position of workpiece when a conveyer belt moves to another conveyer belt.Although using machinery Hands carries out transfer to workpiece and position of rotation can reach effect, but mechanical hand belongs to precision equipment, expensive, uses in a large number Production cost can be made too high, be unfavorable for producing;And workpiece can only be moved to separately by transfer mechanism typically now from a position One position, then needs when the angle of workpiece to be adjusted or position to carry out by other slewing, and this not only to increase Work equipment and to make operation become more sophisticated loaded down with trivial details, inefficiency, bring extreme influence to production.Based on above-mentioned not Foot, needs one can carry out workpiece rotating and transfer, and stable, and automaticity is high, the Novel machine that work efficiency is high Tool mobile phone structure.
Summary of the invention
Present invention aims to the deficiencies in the prior art, it is provided that a kind of new mechanical arm mechanism, this novel mechanical Mobile phone structure can solve the problems referred to above well.
For reaching above-mentioned requirements, the present invention adopts the technical scheme that: provide a kind of new mechanical arm mechanism, this Novel machine Tool mobile phone structure includes horizontal mobile mechanism, vertical movement mechanism, sucking disc mechanism and control system, described horizontal mobile mechanism level Be installed on the top of described conveyer belt, described vertical movement mechanism is vertically mounted on described horizontal mobile mechanism, described Sucking disc mechanism is installed on the lower end of described vertical movement mechanism, and described control system controls described horizontal mobile mechanism, vertically moves Motivation structure and sucking disc mechanism, described sucking disc mechanism includes cylinder auxiliary frame, rotary cylinder, sucker stand and Suction cup assembly, described Cylinder auxiliary frame is fixed on the lower end of described vertical movement mechanism, is articulated at the bottom of described cylinder auxiliary frame in the middle part of described rotary cylinder Portion, described sucker stand is fixed on the middle part of described rotary cylinder, and described Suction cup assembly is installed on described sucker stand;Described Horizontal mobile mechanism includes that horizontal servo motor, horizontal screw bolt, horizontal guide rail and slide block, described horizontal guide rail are horizontally installed on The top of described conveyer belt, described horizontal screw bolt is installed in described horizontal guide rail, and described servomotor is fixed on described level End and the outfan of guide rail are connected with described horizontal screw bolt, described slide block be slidably mounted on described horizontal guide rail and with Described horizontal screw bolt is threaded;Described vertical movement mechanism includes vertical servo motor, vertical screw, vertical guide rail and fixes Block, described fixed block is fixed on described slide block, and described vertical guide rail is vertical and is slidably mounted on described fixed block, institute Stating in vertical screw is installed on described vertical guide rail and threaded with described fixed block, described vertical servo motor is fixed on institute Upper end and the outfan of stating vertical guide rail are connected with described vertical screw;Earthquake isolating equipment it is provided with in described mounting bracket, described Earthquake isolating equipment is internally provided with spring and pressure transducer, and described pressure transducer is connected with signal transmitting and receiving component signal.
This new mechanical arm mechanism has the advantage that as follows: owing to the present invention controls described level by described control system Travel mechanism and vertical movement mechanism so that it is described sucking disc mechanism can be driven to move horizontally on conveyer belt simultaneously carry out the most past Move again, and utilize the Suction cup assembly of described sucking disc mechanism, siphon away the workpiece on conveyer belt, thus reach the mesh of transfer workpiece , and during described workpiece transfer, utilize the spinfunction of described rotary cylinder, make workpiece without manually-operated In the case of automatically rotate, thus be adjusted to the convenient transport of suitable transporting position, whole new mechanical arm mechanism is stable, entirely Journey is by control system control, and automaticity is high, substantially increases work efficiency.
Accompanying drawing explanation
Accompanying drawing described herein is used for providing further understanding of the present application, constitutes the part of the application, at this A little accompanying drawings use identical reference number to represent same or analogous part, the schematic description and description of the application For explaining the application, it is not intended that the improper restriction to the application.
In the accompanying drawings:
Fig. 1 schematically shows the structural representation of the new mechanical arm mechanism according to one embodiment of the application.
Detailed description of the invention
For making the purpose of the application, technical scheme and advantage clearer, below in conjunction with drawings and the specific embodiments, to this Application is described in further detail.
In the following description, quoting of " embodiment ", " embodiment ", " example ", " example " etc. is shown The embodiment so described or example can include special characteristic, structure, characteristic, character, element or limit, but the most each reality Execute example or example the most necessarily includes special characteristic, structure, characteristic, character, element or limit.It addition, reuse phrase " according to One embodiment of the application " although it is possible to refer to identical embodiment, but it is not necessarily referring to identical embodiment.
For the sake of simplicity, eliminate in below describing and well known to a person skilled in the art some technical characteristic.
An embodiment according to the application, it is provided that a kind of new mechanical arm mechanism, as it is shown in figure 1, include moving horizontally Mechanism, vertical movement mechanism, sucking disc mechanism and control system, described horizontal mobile mechanism is horizontally installed on described conveyer belt Top, described vertical movement mechanism is vertically mounted on described horizontal mobile mechanism, and described sucking disc mechanism is installed on described hanging down The lower end of straight travel mechanism, described control system controls described horizontal mobile mechanism, vertical movement mechanism and sucking disc mechanism, described Sucking disc mechanism includes that cylinder auxiliary frame, rotary cylinder, sucker stand and Suction cup assembly, described cylinder auxiliary frame are fixed on described hanging down The lower end of straight travel mechanism, is articulated in the middle part of described rotary cylinder bottom described cylinder auxiliary frame, and described sucker stand is fixed on The middle part of described rotary cylinder, described Suction cup assembly is installed on described sucker stand;Described horizontal mobile mechanism includes level Servomotor, horizontal screw bolt, horizontal guide rail and slide block, described horizontal guide rail is horizontally installed on the top of described conveyer belt, institute State horizontal screw bolt to be installed in described horizontal guide rail, described servomotor be fixed on the end of described horizontal guide rail and outfan with Described horizontal screw bolt connects, and described slide block is slidably mounted on described horizontal guide rail and connects with described horizontal screw bolt screw thread Connect;Described vertical movement mechanism includes that vertical servo motor, vertical screw, vertical guide rail and fixed block, described fixed block are fixed On described slide block, described vertical guide rail is vertical and is slidably mounted on described fixed block, and described vertical screw is installed on In described vertical guide rail and threadeding with described fixed block, described vertical servo motor is fixed on the upper end of described vertical guide rail And outfan is connected with described vertical screw;Being provided with earthquake isolating equipment in described mounting bracket, described earthquake isolating equipment is internal to be arranged Spring and pressure transducer, described pressure transducer is had to be connected with signal transmitting and receiving component signal.
An embodiment according to the application, the vertical movement mechanism of this new mechanical arm mechanism also includes drive mechanism, Described drive mechanism includes drive pulley, driven pulley and belt, and the output shaft of described vertical servo motor is straight up The upper end being fixed on described vertical guide rail, described drive pulley is installed on the output shaft of described vertical servo motor, institute State driven pulley and be installed on described vertical screw upper end, described belt be wound in described drive pulley and driven pulley it Between.
An embodiment according to the application, the control system of this new mechanical arm mechanism has workpiece induction apparatus, described Workpiece induction apparatus is installed on described cylinder auxiliary frame, and described workpiece induction apparatus can detect whether workpiece puts in place.
An embodiment according to the application, this new mechanical arm mechanism is applicable to move the workpiece on conveyer belt Carrying, described new mechanical arm mechanism includes mounting bracket 1, horizontal mobile mechanism 2, vertical movement mechanism 3, sucking disc mechanism 4 and control System (not shown) processed.Described mounting bracket 1 fixedly mounts, and described horizontal mobile mechanism 2 is horizontally installed on described transport The top of band, and front end and middle part are fixing with described mounting bracket 1 respectively, described vertical movement mechanism 3 is vertically mounted in institute Stating on horizontal mobile mechanism 2, described sucking disc mechanism 4 is installed on the lower end of described vertical movement mechanism 3, and described control system controls Described horizontal mobile mechanism 2, vertical movement mechanism 3 and sucking disc mechanism 4, described horizontal mobile mechanism 2 includes horizontal servo motor 21, horizontal screw bolt 22, horizontal guide rail 23 and slide block 24, described horizontal guide rail 23 is horizontally installed on the top of conveyer belt, described Horizontal screw bolt 22 is installed in described horizontal guide rail 23, and described servomotor 21 is fixed on the end of described horizontal guide rail 23 and defeated Go out end be connected with described horizontal screw bolt 22, described slide block 24 be slidably mounted on described horizontal guide rail 23 and with described level Screw rod 22 is threaded.By controlling the forward or reverse of described horizontal servo motor 21, described horizontal screw bolt 22 is driven to rotate, Thus drive described slide block 24 to slidably reciprocate on described horizontal screw bolt 22, and the purpose of the movement that is up to the standard, simple in construction, and fixed The degree of accuracy of position is high.
Embodiment described above only represents the several embodiments of the present invention, and it describes more concrete and detailed, but not It is understood that as limitation of the scope of the invention.It should be pointed out that, for the person of ordinary skill of the art, without departing from On the premise of present inventive concept, it is also possible to make some deformation and improvement, these broadly fall into scope.Therefore this Bright protection domain should be as the criterion with described claim.

Claims (3)

1. a new mechanical arm mechanism, it is characterised in that: include horizontal mobile mechanism, vertical movement mechanism, sucking disc mechanism and Control system, described horizontal mobile mechanism is horizontally installed on the top of described conveyer belt, and described vertical movement mechanism is vertically Being installed on described horizontal mobile mechanism, described sucking disc mechanism is installed on the lower end of described vertical movement mechanism, described control system System controls described horizontal mobile mechanism, vertical movement mechanism and sucking disc mechanism, and described sucking disc mechanism includes cylinder auxiliary frame, rotation Cylinder, sucker stand and Suction cup assembly, described cylinder auxiliary frame is fixed on the lower end of described vertical movement mechanism, described rotary pneumatic Being articulated in bottom described cylinder auxiliary frame in the middle part of cylinder, described sucker stand is fixed on the middle part of described rotary cylinder, described sucker Assembly is installed on described sucker stand;Described horizontal mobile mechanism include horizontal servo motor, horizontal screw bolt, horizontal guide rail and Slide block, described horizontal guide rail is horizontally installed on the top of described conveyer belt, and described horizontal screw bolt is installed on described horizontal guide rail In, described servomotor is fixed on the end of described horizontal guide rail and outfan is connected with described horizontal screw bolt, and described slide block can It is slidably mounted to threaded on described horizontal guide rail and with described horizontal screw bolt;Described vertical movement mechanism includes vertically watching Taking motor, vertical screw, vertical guide rail and fixed block, described fixed block is fixed on described slide block, and described vertical guide rail is vertical And be slidably mounted on described fixed block, described vertical screw be installed in described vertical guide rail and with described fixed block spiral shell Stricture of vagina connects, and described vertical servo motor is fixed on the upper end of described vertical guide rail and outfan is connected with described vertical screw;Institute Stating and be provided with earthquake isolating equipment in mounting bracket, described earthquake isolating equipment is internally provided with spring and pressure transducer, and described pressure passes Sensor is connected with signal transmitting and receiving component signal.
New mechanical arm mechanism the most according to claim 1, it is characterised in that: described vertical movement mechanism also includes driving Mechanism, described drive mechanism includes drive pulley, driven pulley and belt, and the output shaft of described vertical servo motor is vertical The upper end being fixed on described vertical guide rail upwards, described drive pulley is installed on the output shaft of described vertical servo motor On, described driven pulley is installed on described vertical screw upper end, and described belt is wound in described drive pulley and driven skin Between belt wheel.
New mechanical arm mechanism the most according to claim 1, it is characterised in that: described control system has workpiece sensing Device, described workpiece induction apparatus is installed on described cylinder auxiliary frame, and described workpiece induction apparatus can detect whether workpiece puts in place.
CN201610674896.0A 2016-08-16 2016-08-16 A kind of new mechanical arm mechanism Withdrawn CN106181978A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610674896.0A CN106181978A (en) 2016-08-16 2016-08-16 A kind of new mechanical arm mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610674896.0A CN106181978A (en) 2016-08-16 2016-08-16 A kind of new mechanical arm mechanism

Publications (1)

Publication Number Publication Date
CN106181978A true CN106181978A (en) 2016-12-07

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CN201610674896.0A Withdrawn CN106181978A (en) 2016-08-16 2016-08-16 A kind of new mechanical arm mechanism

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106586140A (en) * 2017-01-06 2017-04-26 哈工大机器人集团(哈尔滨)华粹智能装备有限公司 Self-adaptation box opening and sleeving executer
CN107618834A (en) * 2017-09-12 2018-01-23 苏州富锐联自动化设备有限公司 foam feeding rotating mechanism
CN108545953A (en) * 2018-05-07 2018-09-18 陈玉丹 A kind of glass etching technique
CN109018515A (en) * 2018-10-10 2018-12-18 彭婷 A kind of electronic chip multistation intelligence transmission discharge robot
CN110270874A (en) * 2019-04-23 2019-09-24 江苏海宇机械有限公司 A kind of truss-like lathe loading and unloading robot system and its control method
CN112875275A (en) * 2020-12-30 2021-06-01 杭州高品自动化设备有限公司 Visual angle positioning mechanism used in stator and rotor heat set and working method thereof
CN114014006A (en) * 2021-10-19 2022-02-08 芜湖市京桥精密智造有限公司 Automatic material taking mechanism of air conditioner fan blade

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106586140A (en) * 2017-01-06 2017-04-26 哈工大机器人集团(哈尔滨)华粹智能装备有限公司 Self-adaptation box opening and sleeving executer
CN107618834A (en) * 2017-09-12 2018-01-23 苏州富锐联自动化设备有限公司 foam feeding rotating mechanism
CN108545953A (en) * 2018-05-07 2018-09-18 陈玉丹 A kind of glass etching technique
CN109018515A (en) * 2018-10-10 2018-12-18 彭婷 A kind of electronic chip multistation intelligence transmission discharge robot
CN110270874A (en) * 2019-04-23 2019-09-24 江苏海宇机械有限公司 A kind of truss-like lathe loading and unloading robot system and its control method
CN112875275A (en) * 2020-12-30 2021-06-01 杭州高品自动化设备有限公司 Visual angle positioning mechanism used in stator and rotor heat set and working method thereof
CN114014006A (en) * 2021-10-19 2022-02-08 芜湖市京桥精密智造有限公司 Automatic material taking mechanism of air conditioner fan blade

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WW01 Invention patent application withdrawn after publication

Application publication date: 20161207

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