CN106313023A - Feeding manipulator - Google Patents
Feeding manipulator Download PDFInfo
- Publication number
- CN106313023A CN106313023A CN201611018049.5A CN201611018049A CN106313023A CN 106313023 A CN106313023 A CN 106313023A CN 201611018049 A CN201611018049 A CN 201611018049A CN 106313023 A CN106313023 A CN 106313023A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- feeding manipulator
- pushing mechanism
- oblique
- axial
- 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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- 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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a feeding manipulator and belongs to the field of mechanical equipment and solves problems of unreasonable design and the like in the prior art. The feeding manipulator comprises a rack, a pair of rotatable mechanical arms which are parallel to each other are connected to the rack through a hinged structure, a clamping mechanism is arranged at the other end of each mechanism arm, an oblique pushing mechanism obliquely pushing the mechanism arms to rotate is arranged between the rack and the mechanical arms, and a lateral horizontal pushing mechanism pushing the mechanism arms to move laterally and horizontally on the hinged structure and an axial pushing mechanism pushing the mechanism arms to move axially are arranged between the hinged structure. The feeding manipulator has the advantages of reasonable design, accurate placement of materials, good stability, simple structure and easiness in manufacture.
Description
Technical field
The invention belongs to mechanical equipment technical field, especially relate to a kind of feeding manipulator.
Background technology
Current due to the increase of cost of labor, cause the rise of enterprise's production cost, in order to be able to improve production efficiency and fall
Low production cost, automatically processing device all can be applied in the production of reality, processing by a lot of enterprises, particularly processing valve pipe
The automatically processing device of class workpiece, it by feed mechanism automatic charging, improves production efficiency, reduction before processing
Production cost, but the most accurate due to placement location when prior art exists feeding, it is still necessary to artificial treatment, and easily make during feeding
Become the material transported to stack each other and cause production accident.
In order to solve the problem that prior art exists, people have carried out long-term exploration, it is proposed that solution miscellaneous
Scheme.Such as, Chinese patent literature discloses a kind of BLU feeding manipulator [application number: 201410368028.0], including before and after
The contiguous block at two ends, the top of two contiguous blocks is provided with a upper sealing plate, and described contiguous block upper end is a protuberance, the width of this protuberance
Equal with the width of upper sealing plate, the concave surface of upper sealing plate is installed in protuberance, and is fastened by screw, and the side of two contiguous blocks respectively sets
Having a side seal board, the height of side seal board is equal with the height of contiguous block, and is fastened by screw and side seal board, described upper sealing plate with
The bottom of side seal board is provided with a base plate, and wherein the side of a contiguous block is provided with a servomotor, is provided with one between two pieces of contiguous blocks
Ball screw, is provided with a shaft coupling inside the contiguous block of described servomotor, described ball screw is by shaft coupling and servo electricity
Machine is connected, and upper sealing plate is provided with the first stroke contiguous block, and the lower end of this first stroke contiguous block is the first slide block, described rolling
Ballscrew passes the first slide block, and the upper end of described base plate is provided with the first line slideway, and described first slide block is arranged on the first straight line
Guide rail upper end, the upper end of described first stroke contiguous block is fixedly connected with the second stroke contiguous block, described second stroke contiguous block
Side be provided with the second line slideway, described second line slideway upper end is provided with the second slide block, and described second stroke connects
The top of block is provided with a cylinder, and the upper end of the second slide block is provided with the first linking arm, and a shaft coupling is passed through in this first linking arm upper end
With cylinders, being perpendicular to the first linking arm and be provided with the second linking arm, the lower end of described second linking arm is provided with pneumatic hands
Refer to.
Above-mentioned scheme improves the subproblem of prior art to a certain extent, but, the program the most at least exists
Following defect: structure is complicated and inconvenient by the control putting position to material during feeding, precision controlling is poor.
Summary of the invention
It is an object of the invention to for the problems referred to above, it is provided that a kind of reasonable in design, simple in construction, during feeding, material is pressed
Put the feeding manipulator that position control is effective.
For reaching above-mentioned purpose, present invention employs following technical proposal: the feeding manipulator of the present invention, including frame,
Being connected with a pair rotating mechanical arm the most parallel by articulated structure in frame, the other end of mechanical arm is provided with clamping machine
Structure, is provided with the oblique pushing mechanism that oblique promotion mechanical arm rotates, between articulated structure and mechanical arm between frame and mechanical arm
It is provided with the transverse horizontal pushing mechanism promoting mechanical arm transverse horizontal on articulated structure to move and promotes mechanical arm vertically
The axial pushing mechanism of movement.Mechanical arm is by oblique pushing mechanism, transverse horizontal pushing mechanism and axial the combining of pushing mechanism
Closing promotion and realize three-dimensional control, when material is placed, position control is easier, degree of accuracy is higher, and oblique pushing mechanism is owing to being
Angularly disposed, promote mechanical arm more laborsaving.
Preferably, articulated structure includes the jointed shaft that level is located in frame, parallel on jointed shaft is provided with a pair with hinged
The articulated slab that axle is hinged, is installed with the first linkage structure, the first linkage structure and mechanical arm phase between the other end of pair of hinge plates
Even.Realize mechanical arm to rotate while articulated slab.
Preferably, the first linkage structure includes at least two and the parallel arrangement of lead of jointed shaft, the two ends of lead
It is connected with articulated slab respectively, at least two leads are arranged in the first slide block and is slidably connected with it simultaneously, two mechanical arms
Being fixedly arranged on the both sides of the first slide block respectively, transverse horizontal pushing mechanism both sides are connected with one piece of articulated slab and the first slide block respectively.
First slide block rotates owing at least wearing while two leads make the first slide block and articulated slab simultaneously, simple in construction, manufacture,
Easy for installation.
Preferably, oblique pushing mechanism includes tilting the oblique driving motor being located in frame, and oblique driving motor sets
Having oblique catch bar, oblique catch bar is connected with mechanical arm by the first linkage structure.Oblique catch bar promotes the first linkage knot
Structure makes mechanical arm rotate, and owing to using oblique driving motor can better control over rotary speed, feeding controls more convenient.
Preferably, transverse horizontal pushing mechanism includes Level Promoting cylinder, Level Promoting cylinder one end and one piece of articulated slab
Connect, the other end is connected with mechanical arm.Level Promoting cylinder-pushed mechanical arm realizes transverse horizontal and moves, simple in construction, manufacture,
Easy for installation.
Preferably, axial pushing mechanism includes the axial pushing motor being fixedly arranged on the first linkage structure a pair, axially pushes away
Galvanic electricity machine is connected with and is positioned at outside mechanical arm and the axial catch bar the most identical with it, and axial catch bar is by fixed block and machinery
Arm is connected.Axially pushing motor driving axial catch bar makes mechanical arm carry out, along its axially-movable, simple in construction, manufacturing, installing
Convenient.
Preferably, being provided with stiffener assembly between a pair mechanical arm, one end of described stiffener assembly is connected with the first linkage structure.
Stiffener assembly strengthens the degree of being connected firmly of mechanical arm, enhances working strength.
Preferably, stiffener assembly include respectively with the bracing piece being connected inside a pair mechanical arm, be connected between described bracing piece
Boss.Simple in construction, it is easily installed, manufactures.
Preferably, clamp system includes the chute being located on mechanical arm, slidably connects two and driven by clamping in chute
The fixture block that motor controls.The design of chute facilitates the regulation and control of fixture block spacing, more convenient during material gripping.
Compared with prior art, the advantage of this feeding manipulator is: 1, design is more reasonable, and material is placed accurately, stablized
Property is good；2, simple in construction and easily fabricated.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to
Other accompanying drawing is obtained according to these accompanying drawings.
Fig. 1 provides the structural representation when mechanical arm in the embodiment of the present invention is raised.
Fig. 2 provides the top view when mechanical arm in the embodiment of the present invention is raised.
Fig. 3 provides the side view when mechanical arm in the embodiment of the present invention is raised.
Fig. 4 provides the front view when mechanical arm in the embodiment of the present invention is raised.
Fig. 5 provides the structural representation when mechanical arm in the embodiment of the present invention is not raised.
Fig. 6 provides the front view figure when mechanical arm in the embodiment of the present invention is not raised.
Fig. 7 provides the side view when mechanical arm in the embodiment of the present invention is not raised.
In figure, frame 1, articulated structure 2, jointed shaft 2a, articulated slab 2b, mechanical arm 3, clamp system 4, chute 4a, fixture block
4b, oblique pushing mechanism 5, oblique driving motor 5a, oblique catch bar 5b, transverse horizontal pushing mechanism 6, Level Promoting cylinder
6a, axial pushing mechanism 7, axial pushing motor 7a, axial catch bar 7b, fixed block 7c, the first linkage structure 8, lead 8a,
First slide block 8b, stiffener assembly 9, bracing piece 9a, boss 9b.
Detailed description of the invention
The present invention is described in further detail below in conjunction with the accompanying drawings and by embodiment, and following example are to this
Bright explanation and the invention is not limited in following example.
If Fig. 1 is to shown in 7, this feeding manipulator, including frame 1, frame 1 is connected with a pair each other by articulated structure 2
Parallel rotating mechanical arm 3, the other end of mechanical arm 3 is provided with clamp system 4, is provided with oblique between frame 1 and mechanical arm 3
The oblique pushing mechanism 5 promoting mechanical arm 3 to rotate, is provided with promotion mechanical arm 3 at hinged knot between articulated structure 2 and mechanical arm 3
Transverse horizontal pushing mechanism 6 that on structure 2, transverse horizontal moves and promote the axial pushing mechanism that mechanical arm 3 is axially moveable
7, mechanical arm 3 realizes standing by comprehensive promotion of oblique pushing mechanism 5, transverse horizontal pushing mechanism 6 and axial pushing mechanism 7
Body formula controls, and when material is placed, position control is easier, degree of accuracy is higher, and oblique pushing mechanism 5 is owing to being angularly disposed, promotion
Mechanical arm 3 is more laborsaving.
Specifically, articulated structure 2 here includes the jointed shaft 2a that level is located in frame 1, parallel on jointed shaft 2a sets
There is a pair articulated slab 2b hinged with jointed shaft 2a, between the other end of pair of hinge plates 2b, be installed with the first linkage structure 8, first
Linkage structure 8 is connected with mechanical arm 3, it is achieved rotate while mechanical arm 3 and articulated slab 2b；Here the first linkage structure 8 wraps
Include at least two to be connected with articulated slab 2b respectively, at least with jointed shaft 2a parallel arrangement of lead 8a, the two ends of lead 8a
In two lead 8a are arranged in the first slide block 8b simultaneously and being slidably connected with it, two mechanical arms 3 are fixedly arranged on first respectively and slide
The both sides of block 8b, transverse horizontal pushing mechanism 6 both sides are connected with one piece of articulated slab 2b and the first slide block 8b respectively, the first slide block 8b
Rotate owing at least wearing while two lead 8a make the first slide block 8b and articulated slab 2b simultaneously, simple in construction, manufacture, pacify
Dress is convenient；Here oblique pushing mechanism 5 includes the oblique driving motor 5a, oblique driving motor 5a tilting to be located in frame 1
Being provided with oblique catch bar 5b, oblique catch bar 5b to be connected with mechanical arm 3 by the first linkage structure 8, oblique catch bar 5b pushes away
Dynamic first linkage structure 8 makes mechanical arm 3 rotate, owing to using oblique driving motor 5a can better control over rotary speed,
Feeding controls more convenient, and the most oblique driving motor 5a can be selected for control accuracy higher motor such as motor；Here
Transverse horizontal pushing mechanism 6 include Level Promoting cylinder 6a, Level Promoting cylinder 6a one end be connected with one piece of articulated slab 2b, another
End is connected with mechanical arm 3, and Level Promoting cylinder 6a promotes mechanical arm 3 to realize transverse horizontal and moves, and simple in construction manufactures, installs
Convenient；Here axial pushing mechanism 7 includes the axial pushing motor 7a being fixedly arranged on the first linkage structure 8 a pair, axially pushes away
Galvanic electricity machine 7a is connected with and is positioned at outside mechanical arm 3 and the axial catch bar 7b, axial catch bar 7b the most identical with it are by fixing
Block 7c is connected with mechanical arm 3, and axial pushing motor 7a driving axial catch bar 7b makes mechanical arm 3 carry out along its axially-movable, knot
Structure is simple, manufactures, easy for installation.
Further, stiffener assembly 9, one end and first of described stiffener assembly 9 it are provided with between a pair mechanical arm 3 here
Dynamic structure 8 is connected, and stiffener assembly 9 strengthens the degree of being connected firmly of mechanical arm 3, enhances working strength；Here stiffener assembly 9
Including respectively with the bracing piece 9a being connected inside a pair mechanical arm 3, be connected in boss 9b between described bracing piece 9a, simple in construction,
It is easily installed, manufactures；Here clamp system 4 includes the chute 4a being located on mechanical arm 3, slidably connects two in chute 4a
Driven the fixture block 4b of motor control by clamping, the design of chute 4a facilitates the regulation and control of fixture block 4b spacing, more square during material gripping
Just.
Specific embodiment described herein is only to present invention spirit explanation for example.Technology neck belonging to the present invention
Described specific embodiment can be made various amendment or supplements or use similar mode to replace by the technical staff in territory
Generation, but without departing from the spirit of the present invention or surmount scope defined in appended claims.
Although the most more employing frame 1, articulated structure 2, jointed shaft 2a, articulated slab 2b, mechanical arm 3, clamping machine
Structure 4, chute 4a, fixture block 4b, oblique pushing mechanism 5, oblique driving motor 5a, oblique catch bar 5b, transverse horizontal pushing mechanism
6, Level Promoting cylinder 6a, axial pushing mechanism 7, axial pushing motor 7a, axial catch bar 7b, fixed block 7c, the first linkage
The term such as structure 8, lead 8a, the first slide block 8b, stiffener assembly 9, bracing piece 9a, boss 9b, but be not precluded from using it
The probability of its term.Use these terms to be only used to more easily to describe and explain the essence of the present invention；They are solved
It is all contrary with spirit of the present invention for being interpreted into any additional restriction.
Claims (9)
1. a feeding manipulator, including frame (1), it is characterised in that: in described frame (1) by articulated structure (2) even
Having a pair rotating mechanical arm (3) the most parallel, the other end of described mechanical arm (3) is provided with clamp system (4), described
Frame (1) and mechanical arm (3) between be provided with the oblique pushing mechanism (5) that the mechanical arm (3) described in oblique promotion rotates, described
Articulated structure (2) and described mechanical arm (3) between to be provided with mechanical arm (3) described in promotion upper laterally at articulated structure (2)
The transverse horizontal pushing mechanism (6) moved horizontally and the axial pushing mechanism (7) promoting mechanical arm (3) to be axially moveable.
Feeding manipulator the most according to claim 1, it is characterised in that described articulated structure (2) includes that level is located at
Jointed shaft (2a) in frame (1), described jointed shaft (2a) is the most parallel is provided with a pair articulated slab hinged with jointed shaft (2a)
(2b), the first linkage structure (8), the first described linkage structure it are installed with between the other end of the articulated slab (2b) described in a pair
(8) it is connected with mechanical arm (3).
Feeding manipulator the most according to claim 2, it is characterised in that described the first linkage structure (8) includes at least
Two and jointed shaft (2a) parallel arrangement of lead (8a), the two ends of described lead (8a) are solid with articulated slab (2b) respectively
Even, at least two described leads (8a) are arranged in the first slide block (8b) simultaneously and being slidably connected with it, two described
Mechanical arm (3) is fixedly arranged on the both sides of the first slide block (8b) respectively, described transverse horizontal pushing mechanism (6) both sides respectively with one piece
Articulated slab (2b) and the first slide block (8b) connect.
4. according to the arbitrary described feeding manipulator of claim 2 to 3, it is characterised in that described oblique pushing mechanism (5) bag
Including the oblique driving motor (5a) that inclination is located in frame (1), described oblique driving motor (5a) is provided with oblique catch bar
(5b), described oblique catch bar (5b) is connected with mechanical arm (3) by the first linkage structure (8).
5. according to the arbitrary described feeding manipulator of claim 2 to 3, it is characterised in that described transverse horizontal pushing mechanism
(6) include Level Promoting cylinder (6a), Level Promoting cylinder (6a) one end is connected with one piece of articulated slab (2b), the other end with machinery
Arm (3) connects.
6. according to the arbitrary described feeding manipulator of claim 2 to 3, it is characterised in that described axial pushing mechanism (7) bag
Including the axial pushing motor (7a) being fixedly arranged on the first linkage structure (8) a pair, described axial pushing motor (7a) is connected with position
In mechanical arm (3) outside and the axial catch bar (7b) the most identical with it, described axial catch bar (7b) passes through fixed block
(7c) it is connected with mechanical arm (3).
7. according to the arbitrary described feeding manipulator of claim 2 to 3, it is characterised in that set between the mechanical arm (3) described in a pair
Stiffener assembly (9), one end of described stiffener assembly (9) is had to be connected with the first linkage structure (8).
Feeding manipulator the most according to claim 7, it is characterised in that described stiffener assembly (9) includes respectively with one
The bracing piece (9a) being connected described mechanical arm (3) inner side, is connected in boss (9b) between described bracing piece (9a).
9. according to the arbitrary described feeding manipulator of claims 1 to 3, it is characterised in that described clamp system (4) includes setting
Chute (4a) on mechanical arm (3), slidably connects two folders being driven motor to control by clamping in described chute (4a)
Block (4b).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611018049.5A CN106313023A (en) | 2016-11-17 | 2016-11-17 | Feeding manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611018049.5A CN106313023A (en) | 2016-11-17 | 2016-11-17 | Feeding manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106313023A true CN106313023A (en) | 2017-01-11 |
Family
ID=57816844
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611018049.5A Pending CN106313023A (en) | 2016-11-17 | 2016-11-17 | Feeding manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106313023A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101038473B1 (en) * | 2007-12-05 | 2011-06-01 | 한국수력원자력 주식회사 | Cable-driven Manipulator |
| CN204546529U (en) * | 2015-03-30 | 2015-08-12 | 宁波华科联众自动化有限公司 | A kind of round brush handle iron feeding manipulator |
| WO2015119908A1 (en) * | 2014-02-07 | 2015-08-13 | Control Interfaces LLC | Remotely operated manipulator and rov control systems and methods |
| CN204818921U (en) * | 2015-07-21 | 2015-12-02 | 黑龙江建筑职业技术学院 | Telescopic multi -functional feeding mechanical arm arm of going up |
| CN204976636U (en) * | 2015-07-30 | 2016-01-20 | 中国地质大学（武汉） | Cubic apparatus press material loading manipulator |
| CN205310259U (en) * | 2015-11-30 | 2016-06-15 | 诸暨市润拓机械自动化科技有限公司 | Feeding manipualtor |
| CN205521391U (en) * | 2015-10-13 | 2016-08-31 | 广州市柯西机械设备有限公司 | Two sections half automatic feeding manipulators of folding arm type |
-
2016
- 2016-11-17 CN CN201611018049.5A patent/CN106313023A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101038473B1 (en) * | 2007-12-05 | 2011-06-01 | 한국수력원자력 주식회사 | Cable-driven Manipulator |
| WO2015119908A1 (en) * | 2014-02-07 | 2015-08-13 | Control Interfaces LLC | Remotely operated manipulator and rov control systems and methods |
| CN204546529U (en) * | 2015-03-30 | 2015-08-12 | 宁波华科联众自动化有限公司 | A kind of round brush handle iron feeding manipulator |
| CN204818921U (en) * | 2015-07-21 | 2015-12-02 | 黑龙江建筑职业技术学院 | Telescopic multi -functional feeding mechanical arm arm of going up |
| CN204976636U (en) * | 2015-07-30 | 2016-01-20 | 中国地质大学（武汉） | Cubic apparatus press material loading manipulator |
| CN205521391U (en) * | 2015-10-13 | 2016-08-31 | 广州市柯西机械设备有限公司 | Two sections half automatic feeding manipulators of folding arm type |
| CN205310259U (en) * | 2015-11-30 | 2016-06-15 | 诸暨市润拓机械自动化科技有限公司 | Feeding manipualtor |
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| PB01 | Publication | ||
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Application publication date: 20170111 |