CN106586543A - Intelligent mechanical arm carrying device - Google Patents
Intelligent mechanical arm carrying device Download PDFInfo
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- CN106586543A CN106586543A CN201611267254.5A CN201611267254A CN106586543A CN 106586543 A CN106586543 A CN 106586543A CN 201611267254 A CN201611267254 A CN 201611267254A CN 106586543 A CN106586543 A CN 106586543A
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- 230000007246 mechanism Effects 0.000 claims abstract description 135
- 230000003028 elevating effect Effects 0.000 claims description 30
- 230000000694 effects Effects 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 abstract description 2
- 230000004044 response Effects 0.000 abstract description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 6
- 229910052742 iron Inorganic materials 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
Abstract
An intelligent mechanical arm carrying device is characterized by comprising a machine frame, a horizontal linear sliding mechanism, a linear lifting mechanism and a mechanical arm mechanism, wherein the machine frame comprises a supporting column and a cross beam; the supporting column is vertically arranged and the cross beam is horizontally arranged on the supporting column; the horizontal linear sliding mechanism is arranged on the cross beam in a horizontal linear sliding way; the linear lifting mechanism is arranged on the horizontal linear sliding mechanism in a linear lifting way; and the mechanical arm mechanism is arranged at the lower end of the linear lifting mechanism. Therefore, the intelligent mechanical arm carrying device can automatically carry a to-be-carried object from one place to the destination so as to reduce labor intensity and improve production efficiency. Meanwhile, the intelligent mechanical arm carrying device has the advantages of simple structure, novel design, high automation degree, low cost, small volume, small occupied space, flexible arrangement, grabbing and conveying accuracy, high response speed, operation stability, simplicity in operation, convenience in mounting and maintenance, easiness in popularization and the like.
Description
Technical field
The present invention relates to a kind of Handling device, specifically, is related to a kind of puma manipulator Handling device.
Background technology
At present, if by thing to be handled（Such as iron plate heap）Destination is transported to from a place, typically by manually removing
Ship and complete, and the shortcomings of there is high labor intensive, low production efficiency in a dead lift.
In order to reduce labor intensity, improve production efficiency, designing one kind can be automatically by thing to be handled from a ground
Side is transported to the puma manipulator Handling device of destination, and this has become technical problem urgently to be resolved hurrily at present.
The content of the invention
The technical problem to be solved is to provide a kind of puma manipulator Handling device, and the puma manipulator is carried
Thing to be handled automatically can be transported to destination by device from a place, so as to reducing labor intensity, improve production
Efficiency.
In order to solve above-mentioned technical problem, the technical solution used in the present invention is as follows：
A kind of puma manipulator Handling device, it is characterised in that：Including frame, horizontal linear slide mechanism, straight line elevating mechanism
And manipulator mechanism；
Above-mentioned frame includes pillar and crossbeam, and above-mentioned pillar is vertically arranged, and above-mentioned crossbeam level is located on pillar；
Above-mentioned horizontal linear slide mechanism can horizontal linear be slidably mounted on crossbeam；
Above-mentioned straight line elevating mechanism can straight line up and down be arranged on horizontal linear slide mechanism on；
Above-mentioned manipulator mechanism is arranged on the lower end of straight line elevating mechanism.
During carrying, make manipulator mechanism be located at the surface of thing to be handled, and be first with the position of now manipulator mechanism
Beginning position（The initial position includes horizontal initial position and longitudinal initial position）；
Then, straight line elevating mechanism straight line declines, until manipulator mechanism is located at the side of thing to be handled, now, mechanical mobile phone
Structure is located on horizontal initial position；
Then, manipulator mechanism clamps thing to be handled from the both sides of thing to be handled；
Then, straight line elevating mechanism is ramped, and until manipulator mechanism is located on initial position, i.e., manipulator mechanism is located at horizontal stroke
To on initial position and longitudinal initial position；
Then, horizontal linear slide mechanism horizontal linear slides into the surface of carrying destination, and now, manipulator mechanism is located at
On longitudinal initial position；
Then, straight line elevating mechanism straight line declines, and the thing to be handled on manipulator mechanism is located in carrying destination；
Then, manipulator mechanism decontrols thing to be handled, and so, thing to be handled is just transported to destination from a place；
Then, straight line elevating mechanism is ramped, until manipulator mechanism is located on longitudinal initial position；
Finally, horizontal linear slide mechanism horizontal linear slides, until manipulator mechanism is located at horizontal initial position with longitudinal direction just
On beginning position, so that manipulator mechanism resets, so as to the carrying out carried next time.
As the optimal technical scheme of the horizontal linear slide mechanism in the present invention：
The horizontal linear slide mechanism includes horizontal linear guide rail, horizontal sliding seat, horizontal drive mechanism；
Above-mentioned horizontal linear guide rail is flatly fixedly mounted on crossbeam；
Above-mentioned horizontal sliding seat by horizontal linear guide rail can horizontal linear be slidably mounted on crossbeam；
Above-mentioned horizontal drive mechanism is located on crossbeam and horizontal sliding seat, and above-mentioned horizontal drive mechanism connects with the transmission of horizontal sliding seat
Connect.
As the optimal technical scheme of the horizontal drive mechanism in the present invention：
The horizontal drive mechanism includes horizontal rack, horizontal drive motor and horizontal conveyor gear；
Above-mentioned horizontal rack is flatly fixedly mounted on crossbeam, and above-mentioned horizontal rack is arranged with horizontal linear guide rail parallel；
Above-mentioned horizontal drive motor is fixedly mounted on horizontal sliding seat；
Above-mentioned horizontal conveyor gear is coaxially fixedly mounted on the power output shaft of horizontal drive motor, above-mentioned horizontal conveyor tooth
Wheel is engaged with horizontal rack.
When horizontal drive motor is rotated, horizontal drive Motor drive horizontal conveyor pinion rotation, horizontal conveyor gear exists
In the presence of horizontal rack, horizontal sliding seat is driven to slide along horizontal linear guide rail horizontal linear, so that horizontal sliding seat
On manipulator mechanism between horizontal initial position and destination lateral attitude to and fro horizontal linear slide.
As the optimal technical scheme of the straight line elevating mechanism in the present invention：
The straight line elevating mechanism includes vertical straight line guide rail, linear type mechanical arm and lift drive mechanism；
Above-mentioned vertical straight line guide rail is vertically fixedly mounted on linear type mechanical arm；
Above-mentioned linear type mechanical arm can be linearly slideably mounted to up and down on horizontal sliding seat by vertical straight line guide rail, above-mentioned
The lower end of linear type mechanical arm is connected with manipulator mechanism；
Above-mentioned lift drive mechanism is located on horizontal sliding seat and linear type mechanical arm, above-mentioned lift drive mechanism and linear type
Mechanical arm is connected.
As the optimal technical scheme of the lift drive mechanism in the present invention：
The lift drive mechanism includes vertical tooth bar, lifting motor and lifting travelling gear；
Above-mentioned vertical tooth bar is vertically mounted on linear type mechanical arm, and above-mentioned vertical tooth bar sets with vertical straight line guide rail parallel
Put；
Above-mentioned lifting motor is fixedly mounted on horizontal sliding seat；
Above-mentioned lifting travelling gear is coaxially fixedly mounted on the power output shaft of lifting motor, above-mentioned lifting driving cog
Wheel is engaged with vertical tooth bar.
When motor rotation is lifted, lifting motor drives lifting travelling gear to rotate, and lifts travelling gear and exists
Vertically in the presence of tooth bar, linear type mechanical arm is driven along the upper and lower linear slide of vertical straight line guide rail, so that linear type
Manipulator mechanism on mechanical arm moves along a straight line up and down to and fro between longitudinal initial position and destination's lengthwise position.
As the optimal technical scheme of the manipulator mechanism in the present invention：
The manipulator mechanism includes connector, mounting seat, is horizontally mounted axle, the first tong and the second tong；
Above-mentioned connector is arranged on the lower end of straight line elevating mechanism；
Above-mentioned mounting seat is fixedly mounted on connector；
The above-mentioned axle that is horizontally mounted is horizontally mounted in mounting seat；
On the two ends that above-mentioned first tong and the second tong are separately mounted to be horizontally mounted axle, above-mentioned first tong and the second tong
It is in the same plane.
The effect of above-mentioned connector is：For connecting lower end and the mounting seat of straight line elevating mechanism, so as to be convenient to straight line
The installation of elevating mechanism and mounting seat.
As the further improved technology scheme of the manipulator mechanism in the present invention：
The connector is arranged on the lower end of straight line elevating mechanism by a connecting mechanism for rotating；
Above-mentioned connecting mechanism for rotating includes connecting seat and oscillating cylinder；
Above-mentioned connecting seat is fixedly mounted on the lower end of straight line elevating mechanism；
The cylinder body of above-mentioned oscillating cylinder is fixedly mounted on connecting seat；
The rotary disk of above-mentioned oscillating cylinder is fixedly connected with connector.
The effect of above-mentioned connecting seat is：For connecting the lower end of straight line elevating mechanism and the cylinder body of oscillating cylinder, so as to side
It is easy to the installation of straight line elevating mechanism and oscillating cylinder.
Above-mentioned oscillating cylinder is also referred to as rotary cylinder, and its effect is：The first tong and the second tong is set to rotate certain angle
Degree, to realize that the angle of thing to be handled is converted.
When oscillating cylinder starts, the rotary disk of oscillating cylinder turns over certain angle, and the rotary disk of oscillating cylinder drives
Connector, mounting seat, it is horizontally mounted axle, the first tong and the second tong and turns over certain angle together, so that the first tong
Certain angle is also turned over the thing to be handled on the second tong, to realize that the angle of thing to be handled is converted.
The optimal technical scheme of the setting angle of the first tong and the second tong in as the present invention：
First tong and the second tong are towards identical setting, towards being oppositely arranged or towards arranged in a crossed manner.
When the first tong and the second tong are towards identical setting, the first tong and the second tong are from the same of thing to be handled
Clamp thing to be handled and carried in side；
When the first tong and the second tong towards be oppositely arranged when, the opposite sides of the first tong and the second tong from thing to be handled
While clamp thing to be handled being carried；
When the first tong and the second tong towards it is arranged in a crossed manner when, the first tong and the second tong are from the adjacent both sides of thing to be handled
While clamp thing to be handled being carried；
The optimal technical scheme of the concrete structure of the first tong and the second tong in as the present invention：
First tong includes the first installing rack, the first guide rod cylinder, the first holder, the first stationary jaw, the first jaw gas
Cylinder and the first movable jaw；
Above-mentioned first installing rack is fixedly mounted on the one end for being horizontally mounted axle；
The cylinder body of above-mentioned first guide rod cylinder is arranged on the first installing rack；
Above-mentioned first holder is fixedly mounted on the piston rod of the first guide rod cylinder；
Above-mentioned first stationary jaw is fixedly mounted on the first holder；
The cylinder body of above-mentioned first jaw cylinder is fixedly mounted on the first holder；
Above-mentioned first movable jaw is fixedly mounted on the piston rod of the first jaw cylinder, and above-mentioned first movable jaw and first is consolidated
Clamp pawl is closer or far from cooperation；
Second tong includes the second installing rack, the second guide rod cylinder, the second holder, the second stationary jaw, the second jaw gas
Cylinder and the second movable jaw；
Above-mentioned second installing rack is fixedly mounted on the other end for being horizontally mounted axle；
The cylinder body of above-mentioned second guide rod cylinder is arranged on the second installing rack；
Above-mentioned second holder is fixedly mounted on the piston rod of the second guide rod cylinder；
Above-mentioned second stationary jaw is fixedly mounted on the second holder；
The cylinder body of above-mentioned second jaw cylinder is fixedly mounted on the second holder；
Above-mentioned second movable jaw is fixedly mounted on the piston rod of the second jaw cylinder, and above-mentioned second movable jaw and second is consolidated
Clamp pawl is closer or far from cooperation.
When the piston rod of the first guide rod cylinder extends, the piston rod of the first guide rod cylinder drives the first holder to treat to close
The direction motion of thing is carried, until the first stationary jaw and the first movable jaw are enclosed within the side of thing to be handled；Then, first
The piston rod elongation of jaw cylinder, piston rod first movable jaw of driving of the first jaw cylinder is close with the first stationary jaw to match somebody with somebody
Close, until the first movable jaw and the first stationary jaw clamp thing to be handled；In the same manner, when the piston rod of the second guide rod cylinder extends
When, the piston rod of the second guide rod cylinder drives the second holder to move to the direction near thing to be handled, until the second stationary jaw
It is enclosed within the side of thing to be handled with the second movable jaw；Then, the piston rod elongation of the second jaw cylinder, the second jaw cylinder
Piston rod drive the second movable jaw and the second stationary jaw near cooperation, until the second movable jaw and the second stationary jaw
Clamp thing to be handled.
When the piston rod of the first jaw cylinder shortens, the piston rod of the first jaw cylinder drives the first movable jaw and the
One stationary jaw away from cooperation, until the first movable jaw and the first stationary jaw decontrol thing to be handled；Then, the first guide rod gas
The piston rod of cylinder shortens, and the piston rod of the first guide rod cylinder drives the first holder to move to the direction away from thing to be handled, until
First stationary jaw and the first movable jaw are separated with thing to be handled；In the same manner, when the piston rod of the second jaw cylinder shortens, the
The piston rod of two jaw cylinders drives the second movable jaw and the second stationary jaw away from cooperation, until the second movable jaw and the
Two stationary jaws decontrol thing to be handled；Then, the piston rod of the second guide rod cylinder shortens, and the piston rod of the second guide rod cylinder drives
Second holder to away from object space to be handled to motion, until the second stationary jaw and the second movable jaw are separated with thing to be handled.
The more preferred technical scheme of the first tong and the second tong in as the present invention：
The cylinder body of first guide rod cylinder and the second guide rod cylinder has a certain degree with horizontal plane shape.
When the cylinder body of the first guide rod cylinder and the second guide rod cylinder has a certain degree with horizontal plane shape, thing to be handled is made
Also have a certain degree placement with horizontal plane shape, so, the first stationary jaw and first on the first guide rod cylinder its piston rod
The second stationary jaw and the second movable jaw on movable jaw, the second guide rod cylinder its piston rod, can directly to be handled
The side of thing is clamped thing to be handled and is carried, so as to reduce the intermediate link of handling process（Such as transition transfer station is removed
Fortune）, greatly increasing production efficiency, saved cost, the volume for also making equipment greatly reduces, and has saved the occupancy of equipment
Space, therefore, equipment is limited little by space, and the arrangement of equipment is more flexible, so as to be conducive to improving the utilization of hall space
Rate.
Present invention beneficial effect against existing technologies is：
Because this puma manipulator Handling device includes frame, horizontal linear slide mechanism, straight line elevating mechanism and mechanical mobile phone
Structure；Above-mentioned frame includes pillar and crossbeam, and above-mentioned pillar is vertically arranged, and above-mentioned crossbeam level is located on pillar；Above-mentioned level is straight
Line slide mechanism can horizontal linear be slidably mounted on crossbeam；Above-mentioned straight line elevating mechanism can straight line up and down be arranged on level
In linear slide mechanism；Above-mentioned manipulator mechanism is arranged on the lower end of straight line elevating mechanism；So, this puma manipulator is carried
Thing to be handled automatically can be transported to destination by device from a place, so as to reducing labor intensity, improve production
Efficiency.
Meanwhile, this puma manipulator Handling device also have simple structure, modern design, high degree of automation, low cost,
Small volume, occupy little space, flexible arrangement, grab send precisely, fast response time, operate steadily, it is simple to operate, install and maintenance side
Just, easy to spread the advantages of.
This puma manipulator Handling device is applied to the carrying of various sizes tank iron plate heap, and this puma manipulator carries dress
Put the carrying for being particularly well-suited to big tank diameter tank iron plate heap.
With reference to the accompanying drawings and detailed description the present invention is described in further detail, so that the technology of this area
Personnel can be more fully understood from the technology contents of the present invention.
Description of the drawings
Fig. 1 is the structural representation of the preferred embodiment of the present invention；
Fig. 2 is structural representation of the preferred embodiment of the present invention in the case where original state is carried；
Fig. 3 is structural representation of the preferred embodiment of the present invention when manipulator mechanism straight line declines and clamps thing to be handled；
Fig. 4 is structure of the preferred embodiment of the present invention when manipulator mechanism clamps thing to be handled and ramps initial position
Schematic diagram；
Fig. 5 is that the preferred embodiment of the present invention clamps thing to be handled in manipulator mechanism and horizontal linear is slided in carrying destination
Structural representation when square；
Fig. 6 is that the preferred embodiment of the present invention clamps that thing to be handled turns over certain angle and straight line drops to carrying in manipulator mechanism
Structural representation when in destination；
Fig. 7 is the preferred embodiment of the present invention when manipulator mechanism is decontroled thing to be handled and ramped above carrying destination
Structural representation；
Fig. 8 is structure of the preferred embodiment of the present invention when manipulator mechanism turns round reset and slides to initial position horizontal linear
Schematic diagram.
Specific embodiment
As shown in figure 1, the puma manipulator Handling device in this preferred embodiment, including frame 1, horizontal linear slide mechanism 2,
Straight line elevating mechanism 3 and manipulator mechanism 4.
Above-mentioned frame 1 includes pillar 11 and crossbeam 12, and above-mentioned pillar 11 is vertically arranged, and the level of above-mentioned crossbeam 12 is located at pillar
On 11.
Above-mentioned horizontal linear slide mechanism 2 includes horizontal linear guide rail 21, horizontal sliding seat 22, horizontal drive mechanism 23；
Above-mentioned horizontal linear guide rail 21 is flatly fixedly mounted on crossbeam 12；
Above-mentioned horizontal sliding seat 22 by horizontal linear guide rail 21 can horizontal linear be slidably disposed within crossbeam 12；
Above-mentioned horizontal drive mechanism 23 includes horizontal rack 231, horizontal drive motor 232 and horizontal conveyor gear 233；
Above-mentioned horizontal rack 231 is flatly fixedly mounted on crossbeam 12, and above-mentioned horizontal rack 231 is flat with horizontal linear guide rail 21
Row is arranged；
Above-mentioned horizontal drive motor 232 is fixedly mounted on horizontal sliding seat 22；
Above-mentioned horizontal conveyor gear 233 is coaxially fixedly mounted on the power output shaft of horizontal drive motor 232, above-mentioned level
Travelling gear 233 is engaged with horizontal rack 231；
So, the horizontal drive motor 232 of horizontal drive mechanism 23 will pass through horizontal conveyor gear 233 and horizontal rack 231 is nibbled
Close and be connected with horizontal sliding seat 22.
Above-mentioned straight line elevating mechanism 3 includes vertical straight line guide rail 31, linear type mechanical arm 32 and lift drive mechanism 33；
Above-mentioned vertical straight line guide rail 31 is vertically fixedly mounted on linear type mechanical arm 32；
Above-mentioned linear type mechanical arm 32 can up and down be linearly slideably mounted to horizontal sliding seat 22 by vertical straight line guide rail 31
On；
Above-mentioned lift drive mechanism 33 includes vertical tooth bar 331, lifting motor 332 and lifting travelling gear（Do not show in Fig. 1
Show）；
Above-mentioned vertical tooth bar 331 is vertically mounted on linear type mechanical arm 32, and above-mentioned vertical tooth bar 331 is led with vertical straight line
Rail 31 be arranged in parallel；
Above-mentioned lifting motor 332 is fixedly mounted on horizontal sliding seat 22；
Above-mentioned lifting travelling gear is coaxially fixedly mounted on the power output shaft of lifting motor 332, and above-mentioned lifting is passed
Moving gear is engaged with vertical tooth bar 331；
So, the lifting motor 332 of lift drive mechanism 33 will pass through lifting travelling gear and vertical tooth bar 331 engage and
It is connected with linear type mechanical arm 32.
Above-mentioned manipulator mechanism 4 includes connector 41, connecting mechanism for rotating 42, mounting seat 43, is horizontally mounted axle 44, first
The tong 46 of tong 45 and second.
Above-mentioned connecting mechanism for rotating 42 includes connecting seat 421 and oscillating cylinder 422；
Above-mentioned connecting seat 421 is fixedly mounted on the lower end of its linear type mechanical arm 32 of straight line elevating mechanism 3；
The cylinder body 4221 of above-mentioned oscillating cylinder 422 is fixedly mounted on connecting seat 421；
Above-mentioned connector 41 is fixed and is located on the rotary disk 4222 of its oscillating cylinder 422 of connecting mechanism for rotating 42；
Above-mentioned mounting seat 43 is fixedly mounted on connector 41；
The above-mentioned axle 44 that is horizontally mounted is horizontally mounted in mounting seat 43.
The tong 46 of above-mentioned first tong 45 and second is separately mounted to be horizontally mounted on the two ends of axle 44, above-mentioned first tong
45 and second tong 46 it is in the same plane, the tong 46 of above-mentioned first tong 45 and second is towards arranged in a crossed manner.
Above-mentioned first tong 45 includes that the first installing rack 451, the first guide rod cylinder 452, the first holder 453, first are fixed
Jaw 454, the first jaw cylinder 455 and the first movable jaw 456；
Above-mentioned first installing rack 451 is fixedly mounted on and is horizontally mounted on one end of axle 44；
The cylinder body of above-mentioned first guide rod cylinder 452 is arranged on the first installing rack 451；
Above-mentioned first holder 453 is fixedly mounted on the piston rod of the first guide rod cylinder 452；
Above-mentioned first stationary jaw 454 is fixedly mounted on the first holder 453；
The cylinder body of above-mentioned first jaw cylinder 455 is fixedly mounted on the first holder 453；
Above-mentioned first movable jaw 456 is fixedly mounted on the piston rod of the first jaw cylinder 455, above-mentioned first movable jaw
456 and first stationary jaw 454 closer or far from cooperation.
Above-mentioned second tong 46 includes that the second installing rack 461, the second guide rod cylinder 462, the second holder 463, second are fixed
Jaw 464, the second jaw cylinder 465 and the second movable jaw 466；
Above-mentioned second installing rack 461 is fixedly mounted on and is horizontally mounted on the other end of axle 44；
The cylinder body of above-mentioned second guide rod cylinder 462 is arranged on the second installing rack 461；
Above-mentioned second holder 463 is fixedly mounted on the piston rod of the second guide rod cylinder 462；
Above-mentioned second stationary jaw 464 is fixedly mounted on the second holder 463；
The cylinder body of above-mentioned second jaw cylinder 465 is fixedly mounted on the second holder 463；
Above-mentioned second movable jaw 466 is fixedly mounted on the piston rod of the second jaw cylinder 465, above-mentioned second movable jaw
466 and second stationary jaw 464 closer or far from cooperation.
The cylinder body of the cylinder body of above-mentioned first guide rod cylinder 452 and the second guide rod cylinder 462 forms certain angle with horizontal plane
Degree.
The course of work and related work principle below in conjunction with the accompanying drawings to this preferred embodiment is described in further detail,
To enable those skilled in the art to be more fully understood from the technology contents of the present invention：
During carrying, as shown in Fig. 2 make manipulator mechanism 4 be located at the surface of thing to be handled 10, and with now manipulator mechanism 4
Position be initial position（The initial position includes horizontal initial position and longitudinal initial position）；Meanwhile, make thing to be handled 10
Also have a certain degree placement with horizontal plane shape；Then, lift motor 332 to rotate forward, lifting motor 332 drives
Lifting travelling gear is rotated forward, and lifting travelling gear drives the edge of linear type mechanical arm 32 in the presence of vertical tooth bar 331
The downward linear slide of vertical straight line guide rail 31, the manipulator mechanism 4 on linear type mechanical arm 32 is located at thing to be handled
10 side, now, manipulator mechanism 4 is located on horizontal initial position, as shown in Figure 3；Then, first guide rod cylinder 452
Piston rod extends, and the piston rod of the first guide rod cylinder 452 drives the first holder 453 to move to the direction near thing to be handled 10,
Until the first stationary jaw 454 and the first movable jaw 456 are enclosed within a side of thing to be handled 10；At the same time, second lead
The piston rod elongation of bar cylinder 462, the piston rod of the second guide rod cylinder 462 drives the second holder 463 near thing to be handled 10
Direction motion, until the second stationary jaw 464 and the second movable jaw 466 are enclosed within another adjacent side of thing to be handled 10
On；Then, the piston rod elongation of the first jaw cylinder 455, the piston rod of the first jaw cylinder 455 drives the first movable jaw
456 and first stationary jaw 454 near coordinating, until the first movable jaw 456 and the first stationary jaw 454 clamp thing to be handled
10；At the same time, the piston rod elongation of the second jaw cylinder 465, the piston rod of the second jaw cylinder 465 drives the second activity folder
The stationary jaw 464 of pawl 466 and second near coordinating, until the second movable jaw 466 and the second stationary jaw 464 clamp it is to be handled
Thing 10, as shown in Figure 3；
As shown in figure 3, when the first movable jaw 456 and the first stationary jaw 454, the second movable jaw 466 and the second fixation clamp
When pawl 464 clamps thing 10 to be handled respectively, as shown in figure 3, lifting motor 332 is rotated backward, lifting motor 332 drives
Dynamic lifting travelling gear is rotated backward, and lifting travelling gear drives linear type mechanical arm 32 in the presence of vertical tooth bar 331
Along the linear slide upwards of vertical straight line guide rail 31, the manipulator mechanism 4 on linear type mechanical arm 32 is located at initial bit
Put, i.e., manipulator mechanism 4 is located on horizontal initial position and longitudinal initial position, as shown in Figure 4.
As shown in figure 4, when the manipulator mechanism 4 for accompanying thing to be handled 10 is located at initial position, horizontal drive motor 232
Rotate forward, horizontal drive motor 232 drives horizontal conveyor gear 233 to rotate forward, and horizontal conveyor gear 233 is in horizontal rack
In the presence of 231, horizontal sliding seat 22 is driven along the level of horizontal linear guide rail 21 linear slide to the right, until horizontal sliding seat
Manipulator mechanism 4 on 22 is moved on destination lateral attitude, i.e., the manipulator mechanism 4 on horizontal sliding seat 22 moves to mesh
Ground surface, now, manipulator mechanism 4 is located on longitudinal initial position, as shown in Figure 5.
As shown in figure 5, when the manipulator mechanism 4 for accompanying thing to be handled 10 moves to the surface of destination, swinging gas
The rotary disk 4222 of cylinder 422 turns over certain angle, and the rotary disk 4222 of oscillating cylinder 422 is with follower link 41, connecting seat
421st, axle 44, the first tong 45 and the second tong 46 are horizontally mounted and turn over certain angle together, so that the He of the first tong 45
Thing to be handled 10 on second tong 46 also turns over certain angle, to realize that the angle of thing to be handled 10 is converted；Then；Lifting
Motor 332 is rotated forward, and lifting motor 332 drives lifting travelling gear to rotate forward, and lifting travelling gear is perpendicular
In the presence of spur rack 331, linear type mechanical arm 32 is driven along the downward linear slide of vertical straight line guide rail 31, until machinery
Thing to be handled 10 on mobile phone structure 4 is located in carrying destination, as shown in Figure 6.
As shown in fig. 6, when the thing to be handled 10 on the first tong 45 and the second tong 46 turns over certain angle and decline
During in carrying destination, the piston rod of the first jaw cylinder 455 shortens, and the piston rod of the first jaw cylinder 455 drives first
The stationary jaw 454 of movable jaw 456 and first away from cooperation, until the first movable jaw 456 and the first stationary jaw 454 are decontroled
Thing to be handled 10；At the same time, the piston rod of the second jaw cylinder 465 shortens, and the piston rod of the second jaw cylinder 465 drives the
Two movable jaws 466 and the second stationary jaw 464 away from cooperation, until the second movable jaw 466 and the second stationary jaw 464 are put
Open thing to be handled 10；Then, the piston rod of the first guide rod cylinder 452 shortens, and the piston rod of the first guide rod cylinder 452 drives first
Holder 453 to the direction away from thing to be handled 10 is moved, until the first stationary jaw 454 and the first movable jaw 456 with wait to remove
Fortune thing 10 is separated；At the same time, the piston rod of the second guide rod cylinder 462 shortens, and the piston rod of the second guide rod cylinder 462 drives the
Two holders 463 are moved to the direction away from thing to be handled 10, until the second stationary jaw 464 and the second movable jaw 466 with treat
Carry thing 10 to separate；So, manipulator mechanism 4 just decontrols thing to be handled 10, and thing to be handled 10 is just transported to from a place
Destination；Then, lift motor 332 to rotate backward, lifting motor 332 drives lifting travelling gear to rotate backward,
Lifting travelling gear in the presence of vertical tooth bar 331, drive linear type mechanical arm 32 along vertical straight line guide rail 31 upwards
Linear slide, the manipulator mechanism 4 on linear type mechanical arm 32 is located at the surface for being transported to destination, now, machine
Tool mobile phone structure 4 is located on longitudinal initial position, as shown in Figure 7.
As shown in fig. 7, when manipulator mechanism 4 decontrols thing to be handled 10 and ramps the surface for being transported to destination
When, the revolution of rotary disk 4222 of oscillating cylinder 422 resets, and the rotary disk 4222 of oscillating cylinder 422 is with follower link 41, mounting seat
43rd, axle 44, the first tong 45 and the second tong 46 are horizontally mounted and turn round reset together, as shown in Figure 8；Then, horizontal drive electricity
Machine 232 is rotated backward, and horizontal drive motor 232 drives horizontal conveyor gear 233 to rotate backward, and horizontal conveyor gear 233 is in water
In the presence of flat tooth bar 231, horizontal sliding seat 22 is driven along the level of horizontal linear guide rail 21 linear slide to the left, until level
Manipulator mechanism 4 on sliding seat 22 is moved on initial position, i.e., manipulator mechanism 4 is located at horizontal initial position and longitudinal direction is first
On beginning position, so that manipulator mechanism 4 resets, so as to the carrying out carried next time, as shown in Figure 2.
Direction in accompanying drawing shown in arrow is horizontal linear glide direction or straight line lifting direction.
The content of above-mentioned specific embodiment is the preferred embodiments of the present invention, and above preferred embodiment is not used for limiting
The practical range of the fixed present invention, therefore, it is every according to its scope of the claims of the invention made it is various
Equivalents, are covered by its scope of the claims of the invention.
Claims (10)
1. a kind of puma manipulator Handling device, it is characterised in that：Including frame, horizontal linear slide mechanism, straight line elevator
Structure and manipulator mechanism；
Above-mentioned frame includes pillar and crossbeam, and above-mentioned pillar is vertically arranged, and above-mentioned crossbeam level is located on pillar；
Above-mentioned horizontal linear slide mechanism can horizontal linear be slidably mounted on crossbeam；
Above-mentioned straight line elevating mechanism can straight line up and down be arranged on horizontal linear slide mechanism on；
Above-mentioned manipulator mechanism is arranged on the lower end of straight line elevating mechanism.
2. puma manipulator Handling device according to claim 1, it is characterised in that：The horizontal linear slide mechanism bag
Include horizontal linear guide rail, horizontal sliding seat, horizontal drive mechanism；
Above-mentioned horizontal linear guide rail is flatly fixedly mounted on crossbeam；
Above-mentioned horizontal sliding seat by horizontal linear guide rail can horizontal linear be slidably mounted on crossbeam；
Above-mentioned horizontal drive mechanism is located on crossbeam and horizontal sliding seat, and above-mentioned horizontal drive mechanism connects with the transmission of horizontal sliding seat
Connect.
3. puma manipulator Handling device according to claim 2, it is characterised in that：The horizontal drive mechanism includes water
Flat tooth bar, horizontal drive motor and horizontal conveyor gear；
Above-mentioned horizontal rack is flatly fixedly mounted on crossbeam, and above-mentioned horizontal rack is arranged with horizontal linear guide rail parallel；
Above-mentioned horizontal drive motor is fixedly mounted on horizontal sliding seat；
Above-mentioned horizontal conveyor gear is coaxially fixedly mounted on the power output shaft of horizontal drive motor, above-mentioned horizontal conveyor tooth
Wheel is engaged with horizontal rack.
4. puma manipulator Handling device according to claim 2, it is characterised in that：The straight line elevating mechanism includes perpendicular
Straight line slideway, linear type mechanical arm and lift drive mechanism；
Above-mentioned vertical straight line guide rail is vertically fixedly mounted on linear type mechanical arm；
Above-mentioned linear type mechanical arm can be linearly slideably mounted to up and down on horizontal sliding seat by vertical straight line guide rail, above-mentioned
The lower end of linear type mechanical arm is connected with manipulator mechanism；
Above-mentioned lift drive mechanism is located on horizontal sliding seat and linear type mechanical arm, above-mentioned lift drive mechanism and linear type
Mechanical arm is connected.
5. puma manipulator Handling device according to claim 4, it is characterised in that：The lift drive mechanism includes perpendicular
Spur rack, lifting motor and lifting travelling gear；
Above-mentioned vertical tooth bar is vertically mounted on linear type mechanical arm, and above-mentioned vertical tooth bar sets with vertical straight line guide rail parallel
Put；
Above-mentioned lifting motor is fixedly mounted on horizontal sliding seat；
Above-mentioned lifting travelling gear is coaxially fixedly mounted on the power output shaft of lifting motor, above-mentioned lifting driving cog
Wheel is engaged with vertical tooth bar.
6. puma manipulator Handling device according to claim 1, it is characterised in that：The manipulator mechanism includes connection
Part, mounting seat, it is horizontally mounted axle, the first tong and the second tong；
Above-mentioned connector is arranged on the lower end of straight line elevating mechanism；
Above-mentioned mounting seat is fixedly mounted on connector；
The above-mentioned axle that is horizontally mounted is horizontally mounted in mounting seat；
On the two ends that above-mentioned first tong and the second tong are separately mounted to be horizontally mounted axle, above-mentioned first tong and the second tong
It is in the same plane.
7. puma manipulator Handling device according to claim 6, it is characterised in that：The connector is by a rotation
Bindiny mechanism is arranged on the lower end of straight line elevating mechanism；
Above-mentioned connecting mechanism for rotating includes connecting seat and oscillating cylinder；
Above-mentioned connecting seat is fixedly mounted on the lower end of straight line elevating mechanism；
The cylinder body of above-mentioned oscillating cylinder is fixedly mounted on connecting seat；
The rotary disk of above-mentioned oscillating cylinder is fixedly connected with connector.
The effect of above-mentioned connecting seat is：For connecting the lower end of straight line elevating mechanism and the cylinder body of oscillating cylinder, so as to be convenient to
The installation of straight line elevating mechanism and oscillating cylinder.
8. puma manipulator Handling device according to claim 6, it is characterised in that：First tong and the second tong
Towards identical setting, towards being oppositely arranged or towards arranged in a crossed manner.
9. puma manipulator Handling device according to claim 6, it is characterised in that：First tong includes the first peace
Shelve, the first guide rod cylinder, the first holder, the first stationary jaw, the first jaw cylinder and the first movable jaw；
Above-mentioned first installing rack is fixedly mounted on the one end for being horizontally mounted axle；
The cylinder body of above-mentioned first guide rod cylinder is arranged on the first installing rack；
Above-mentioned first holder is fixedly mounted on the piston rod of the first guide rod cylinder；
Above-mentioned first stationary jaw is fixedly mounted on the first holder；
The cylinder body of above-mentioned first jaw cylinder is fixedly mounted on the first holder；
Above-mentioned first movable jaw is fixedly mounted on the piston rod of the first jaw cylinder, and above-mentioned first movable jaw and first is consolidated
Clamp pawl is closer or far from cooperation；
Second tong includes the second installing rack, the second guide rod cylinder, the second holder, the second stationary jaw, the second jaw gas
Cylinder and the second movable jaw；
Above-mentioned second installing rack is fixedly mounted on the other end for being horizontally mounted axle；
The cylinder body of above-mentioned second guide rod cylinder is arranged on the second installing rack；
Above-mentioned second holder is fixedly mounted on the piston rod of the second guide rod cylinder；
Above-mentioned second stationary jaw is fixedly mounted on the second holder；
The cylinder body of above-mentioned second jaw cylinder is fixedly mounted on the second holder；
Above-mentioned second movable jaw is fixedly mounted on the piston rod of the second jaw cylinder, and above-mentioned second movable jaw and second is consolidated
Clamp pawl is closer or far from cooperation.
10. puma manipulator Handling device according to claim 9, it is characterised in that：First guide rod cylinder and
The cylinder body of two guide rod cylinders has a certain degree with horizontal plane shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611267254.5A CN106586543A (en) | 2016-12-31 | 2016-12-31 | Intelligent mechanical arm carrying device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611267254.5A CN106586543A (en) | 2016-12-31 | 2016-12-31 | Intelligent mechanical arm carrying device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106586543A true CN106586543A (en) | 2017-04-26 |
Family
ID=58582166
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611267254.5A Pending CN106586543A (en) | 2016-12-31 | 2016-12-31 | Intelligent mechanical arm carrying device |
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| Country | Link |
|---|---|
| CN (1) | CN106586543A (en) |
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| CN107199556A (en) * | 2017-07-28 | 2017-09-26 | 杭州康奋威科技股份有限公司 | Logistics carrying robot arm |
| CN107243896A (en) * | 2017-06-01 | 2017-10-13 | 江苏哈工药机科技股份有限公司 | Heat-preservation cotton automatic charging machine people is used in a kind of solar thermal collector production |
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| CN107363839A (en) * | 2017-07-24 | 2017-11-21 | 重庆市臻憬科技开发有限公司 | A kind of intelligent restaurant |
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| CN106948244B (en) * | 2017-05-02 | 2022-09-16 | 上海铁路局杭州工务段 | Cantilever type full-electric walking board reloading vehicle |
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| CN107243896A (en) * | 2017-06-01 | 2017-10-13 | 江苏哈工药机科技股份有限公司 | Heat-preservation cotton automatic charging machine people is used in a kind of solar thermal collector production |
| CN107160378A (en) * | 2017-07-24 | 2017-09-15 | 重庆市臻憬科技开发有限公司 | Table service device for intelligent restaurant |
| CN107363839A (en) * | 2017-07-24 | 2017-11-21 | 重庆市臻憬科技开发有限公司 | A kind of intelligent restaurant |
| CN107523652A (en) * | 2017-07-24 | 2017-12-29 | 重庆市齐垚机电设备有限公司 | A kind of full-automatic leather shaving machine |
| CN107199556A (en) * | 2017-07-28 | 2017-09-26 | 杭州康奋威科技股份有限公司 | Logistics carrying robot arm |
| CN107310935A (en) * | 2017-08-03 | 2017-11-03 | 环旭电子股份有限公司 | A kind of charging tray shifting apparatus |
| CN107443146A (en) * | 2017-08-15 | 2017-12-08 | 合肥众望电气科技有限公司 | A kind of automatic hitch feed device of machine components |
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| CN108002023B (en) * | 2017-12-12 | 2019-12-10 | 大连顺诚自动化设备有限公司 | Automatic wiping towel supply device |
| CN108002023A (en) * | 2017-12-12 | 2018-05-08 | 大连顺诚自动化设备有限公司 | A kind of cloth for cleaning automatic supplier |
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| CN109138562A (en) * | 2018-05-08 | 2019-01-04 | 北京泊宝机器人科技有限公司 | Rechargeable garage charging pile automatic transporting machine people's system |
| CN108393875A (en) * | 2018-05-24 | 2018-08-14 | 深圳智慧者机器人科技有限公司 | Draw overturning truss manipulator |
| CN109335529A (en) * | 2018-09-11 | 2019-02-15 | 长飞光纤光缆股份有限公司 | A kind of preform transverse transport device |
| CN109436793A (en) * | 2018-11-26 | 2019-03-08 | 广州市轻工高级技工学校 | A kind of material carrying truss |
| CN109383072A (en) * | 2018-12-12 | 2019-02-26 | 东莞市万速自动化设备有限公司 | The handling device of stickers lining machine |
| CN109533948A (en) * | 2018-12-27 | 2019-03-29 | 江阴天翔电器有限公司 | Lamination numerical control carrying implement |
| CN109533953A (en) * | 2019-01-17 | 2019-03-29 | 秦皇岛信越智能装备有限公司 | A kind of online handling device of aluminum vehicle wheel |
| CN109533953B (en) * | 2019-01-17 | 2023-11-17 | 秦皇岛信越智能装备有限公司 | Online handling device of aluminum wheel |
| CN109775351A (en) * | 2019-01-28 | 2019-05-21 | 无锡德林防务装备股份有限公司 | Manipulator is used in UAV navigation transhipment |
| CN110127277A (en) * | 2019-06-24 | 2019-08-16 | 金华市唯创机械技术研发有限公司 | A kind of adjustable height has the Automated production line device of safeguard function |
| CN111906805A (en) * | 2019-11-15 | 2020-11-10 | 中车大同电力机车有限公司 | Electric locomotive wheel drive unit assembling manipulator |
| CN112830228A (en) * | 2019-11-25 | 2021-05-25 | 上海汽车变速器有限公司 | Automatic feeding system for multipoint grabbing of double manipulators of truss robot and control method of automatic feeding system |
| CN112061777A (en) * | 2020-09-07 | 2020-12-11 | 国家林业和草原局北京林业机械研究所 | Clamping device for bamboo tube classification |
| CN113932969A (en) * | 2021-10-19 | 2022-01-14 | 芜湖市京桥精密智造有限公司 | Air conditioner impeller's material taking manipulator |
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Application publication date: 20170426 |