CN106272392A - Multi-angle high thrust moves stacking machine mechanical arm - Google Patents
Multi-angle high thrust moves stacking machine mechanical arm Download PDFInfo
- Publication number
- CN106272392A CN106272392A CN201610804661.9A CN201610804661A CN106272392A CN 106272392 A CN106272392 A CN 106272392A CN 201610804661 A CN201610804661 A CN 201610804661A CN 106272392 A CN106272392 A CN 106272392A
- Authority
- CN
- China
- Prior art keywords
- expansion link
- connecting rod
- revolute pair
- slide block
- frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- 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
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
Abstract
Multi-angle high thrust moves stacking machine mechanical arm, first connecting rod one end is connected in frame by revolute pair one, the first connecting rod other end is connected with second connecting rod one end by revolute pair two, the second connecting rod other end is connected on end effector by revolute pair three, first expansion link one end is connected in frame by revolute pair four, the other end is connected on first connecting rod by revolute pair five, second expansion link lower half cuts down end and is connected in frame, second expansion link the upper half upper end is connected on the first slide block, first slide block set is contained on second connecting rod, 3rd expansion link one end is connected on the second slide block, the other end is connected on end effector, 4th expansion link one end is fixed on the upper half of the second expansion link, the other end is fixed on the second slide block, second slide block set is contained on the upper half of the second expansion link.The present invention can significantly save manpower, and mechanism easily realizes automatization, NC postprocessing controls, and noise is low, pollution-free, can well meet digging operation.
Description
Technical field
The present invention relates to mechanical field, specifically a kind of multi-angle high thrust moves stacking machine mechanical arm.
Background technology
Industrial automation is exactly with the various parameters in commercial production for controlling purpose, it is achieved various process control, whole
In individual commercial production, reduce the technology of manual operation as far as possible.Industrial robot belongs to an important side of industrial automation product
Face, industrial robot is the installations automatically performing work, realizes various function by self power and control ability
A kind of machine, industrial robot is the multi-joint manipulator towards industrial circle or multivariant robot.
In the production process of a lot of products, complete some production processes with robot, production efficiency can not only be improved,
Reduce cost, more can improve product quality.Such as in lip pomade production process, lip pomade and shell be taken out from tray, then
Lip pomade is loaded in shell the most exactly, and builds and tighten, finally finished product lip pomade is put in another tray.Also have and permitted
In many mobile phones production process, a pallet is fitly placed some equipped with phone housing, printed circuit board (PCB), use plastic bag bag
The display unit installed.Mechanical claw grabs them on conveyer belt singly, in order to be for further processing, and
Finally empty pallet is moved in empty pallet pile.This kind of robot palletizer is widely used in medicine, packaging, instrument dress
Join, numerous industries such as relay production.
But, it is higher to there is fault rate in current robot palletizer, poor reliability, easily causes bigger joint error, right
The precision impact of robot is relatively big, and due to this shortcomings, existing robot architecture is difficult to take into account operating flexibility and high accuracy
Characteristic, be difficult to meet big work space, in high precision, the job requirements of high reliability.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, it is provided that a kind of multi-angle high thrust moves stacking machine mechanical arm.
To achieve these goals, present invention employs techniques below scheme:
Multi-angle high thrust moves stacking machine mechanical arm, including first connecting rod, second connecting rod, the first expansion link, second stretch
Bar, the 3rd expansion link, end effector, the first slide block and frame,
First connecting rod one end is connected in frame by revolute pair one, and the first connecting rod other end passes through revolute pair two and second
Connecting rod one end connects, and the second connecting rod other end is connected on end effector by revolute pair three,
First expansion link one end is connected in frame by revolute pair four, and the other end is connected to first even by revolute pair five
On bar,
Second expansion link lower half is cut down end and is connected in frame by revolute pair six, and second expansion link the upper half upper end is passed through
Revolute pair seven is connected on the first slide block, and the first slide block set is contained on second connecting rod,
3rd expansion link one end is connected on the second slide block by revolute pair eight, and the other end is connected to end by revolute pair nine
On end executor,
4th expansion link one end is fixed on the upper half of the second expansion link, and the other end is fixed on the second slide block, and second
Slide block set is contained on the upper half of the second expansion link,
Frame is arranged on running gear by revolute pair ten.
Compared with prior art, the beneficial effect that the present invention possesses:
Having higher reliability, be easily controlled, performance accuracy is high, and each parts machining matching requirements are low, maintenance
Low cost, work efficiency is greatly improved, it is possible to significantly save manpower, and mechanism easily realizes automatization, NC postprocessing controls, and makes an uproar
Sound is low, pollution-free, can well meet digging operation.
Accompanying drawing explanation
Fig. 1 is the structural representation that multi-angle high thrust of the present invention moves stacking machine mechanical arm.
Detailed description of the invention
Below by embodiment, technical scheme is further elaborated.
Embodiment 1
Multi-angle high thrust moves stacking machine mechanical arm, including first connecting rod 1, second connecting rod the 2, first expansion link 3, second stretches
Contracting bar the 4, the 3rd expansion link 6, end effector the 7, first slide block 5 and frame 10,
First connecting rod 1 one end is connected in frame 10 by revolute pair 1, and first connecting rod 1 other end passes through revolute pair two
12 are connected with second connecting rod 2 one end, and second connecting rod 2 other end is connected on end effector 8 by revolute pair 3 13,
First expansion link 3 one end is connected in frame 10 by revolute pair 4 14, and the other end is connected by revolute pair 5 15
On first connecting rod 1,
Second expansion link 4 lower half is cut down end and is connected in frame 10 by revolute pair 6 16, on second expansion link 4 the upper half
End is connected on the first slide block 5 by revolute pair 7 17, and the first slide block 5 is sleeved on second connecting rod 2,
3rd expansion link 6 one end is connected on the second slide block 20 by revolute pair 8 18, and the other end passes through revolute pair 9 19
It is connected on end effector 7,
4th expansion link 21 one end is fixed on the upper half of the second expansion link 4, and the other end is fixed on the second slide block 20,
Second slide block 20 is sleeved on the upper half of the second expansion link,
Frame 10 is arranged on running gear by revolute pair ten.
Being thered is provided thrust by hydraulically extensible bar, coordinate multi link linkage transmission, revolute pair 6 16 is by Serve Motor Control
Rotate, first determine the angle of revolute pair 6 16, then determine the length of the second expansion link 4.
Second expansion link 4 is telescoping hydraulic cylinder, and lower half hydraulic-pressure sleeve part is connected to frame by revolute pair 6 16
On 10, revolute pair 8 18 is positioned on the piston rod of the upper half.
First expansion link 3 regulates the angle of first connecting rod 1, and the second expansion link 4 regulates the angle of second connecting rod 2, and first even
Bar 1 and second connecting rod 2 are worked in coordination and can be moved end effector 7 to target location flexibly,
4th expansion link 21 regulates the position of the first slide block 5 so that the 3rd expansion link 6 and second connecting rod 2 are formed applicable
Angle, then the 3rd expansion link 6 extends force and makes end effector mechanism 7 execution.
Claims (1)
1. multi-angle high thrust moves stacking machine mechanical arm, it is characterised in that include first connecting rod, second connecting rod, the first expansion link,
Second expansion link, the 3rd expansion link, end effector, the first slide block and frame,
First connecting rod one end is connected in frame by revolute pair one, and the first connecting rod other end passes through revolute pair two and second connecting rod
One end connects, and the second connecting rod other end is connected on end effector by revolute pair three,
First expansion link one end is connected in frame by revolute pair four, and the other end is connected to first connecting rod by revolute pair five
On,
Second expansion link lower half is cut down end and is connected in frame by revolute pair six, and second expansion link the upper half upper end is by rotating
Secondary seven are connected on the first slide block, and the first slide block set is contained on second connecting rod,
3rd expansion link one end is connected on the second slide block by revolute pair eight, and the other end is connected to end by revolute pair nine and holds
On row device,
4th expansion link one end is fixed on the upper half of the second expansion link, and the other end is fixed on the second slide block, the second slide block
It is sleeved on the upper half of the second expansion link,
Frame is arranged on running gear by revolute pair ten.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610804661.9A CN106272392A (en) | 2016-09-06 | 2016-09-06 | Multi-angle high thrust moves stacking machine mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610804661.9A CN106272392A (en) | 2016-09-06 | 2016-09-06 | Multi-angle high thrust moves stacking machine mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106272392A true CN106272392A (en) | 2017-01-04 |
Family
ID=57710237
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610804661.9A Pending CN106272392A (en) | 2016-09-06 | 2016-09-06 | Multi-angle high thrust moves stacking machine mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106272392A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000085973A (en) * | 1998-09-07 | 2000-03-28 | Fuji Yusoki Kogyo Co Ltd | Columnar continuous loading device |
| JP2009214194A (en) * | 2008-03-07 | 2009-09-24 | Okura Yusoki Co Ltd | Stacking device, and stacking method |
| CN102514000A (en) * | 2011-12-28 | 2012-06-27 | 广西大学 | Six-motion stacking robot |
| CN105252523A (en) * | 2015-11-20 | 2016-01-20 | 覃煦 | Controllable mechanism type industrial robot manipulator |
| CN105252521A (en) * | 2015-11-20 | 2016-01-20 | 覃煦 | Multiple-degree-of-freedom industrial robot manipulator |
| CN105369843A (en) * | 2015-11-20 | 2016-03-02 | 覃珠强 | Connection rod type stacking arm capable of working at multiple angles |
| CN105397804A (en) * | 2015-11-20 | 2016-03-16 | 覃珠强 | Industrial robot manipulator capable of achieving multi-angle working |
| CN205134402U (en) * | 2015-11-10 | 2016-04-06 | 覃煦 | Controllable mechanism formula connecting rod pile up neatly arm |
| CN205134401U (en) * | 2015-11-10 | 2016-04-06 | 覃煦 | Multi freedom connecting rod formula pile up neatly arm |
-
2016
- 2016-09-06 CN CN201610804661.9A patent/CN106272392A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000085973A (en) * | 1998-09-07 | 2000-03-28 | Fuji Yusoki Kogyo Co Ltd | Columnar continuous loading device |
| JP2009214194A (en) * | 2008-03-07 | 2009-09-24 | Okura Yusoki Co Ltd | Stacking device, and stacking method |
| CN102514000A (en) * | 2011-12-28 | 2012-06-27 | 广西大学 | Six-motion stacking robot |
| CN205134402U (en) * | 2015-11-10 | 2016-04-06 | 覃煦 | Controllable mechanism formula connecting rod pile up neatly arm |
| CN205134401U (en) * | 2015-11-10 | 2016-04-06 | 覃煦 | Multi freedom connecting rod formula pile up neatly arm |
| CN105252523A (en) * | 2015-11-20 | 2016-01-20 | 覃煦 | Controllable mechanism type industrial robot manipulator |
| CN105252521A (en) * | 2015-11-20 | 2016-01-20 | 覃煦 | Multiple-degree-of-freedom industrial robot manipulator |
| CN105369843A (en) * | 2015-11-20 | 2016-03-02 | 覃珠强 | Connection rod type stacking arm capable of working at multiple angles |
| CN105397804A (en) * | 2015-11-20 | 2016-03-16 | 覃珠强 | Industrial robot manipulator capable of achieving multi-angle working |
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| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170104 |
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| WD01 | Invention patent application deemed withdrawn after publication |