CN106737591A - A kind of robot rotation transhipment arm mechanism - Google Patents
A kind of robot rotation transhipment arm mechanism Download PDFInfo
- Publication number
- CN106737591A CN106737591A CN201611261358.5A CN201611261358A CN106737591A CN 106737591 A CN106737591 A CN 106737591A CN 201611261358 A CN201611261358 A CN 201611261358A CN 106737591 A CN106737591 A CN 106737591A
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- CN
- China
- Prior art keywords
- fixed
- rail bar
- arm mechanism
- arm
- motor
- 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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/146—Rotary actuators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
- B25J9/123—Linear actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot rotation transhipment arm mechanism.Including armed lever, motor, conveyer belt, rail bar, slide mechanism and arm mechanism, the motor is fixed on armed lever bottom side, and the rail bar is fixed on the both sides of armed lever, and the conveyer belt is driven by motor；The slide mechanism is moved on rail bar；A cylinder is fixed with the slide mechanism, cylinder is fixed by air cylinder supporting structure, sensor is fixed with the air cylinder supporting structure；The arm mechanism includes support column, knee and strutbeam.The present invention further drives the movement of arm by using motor driving conveyer belt, and while arm is realized moving horizontally the free degree, the air cylinder driven on the arm is rolled over and spend automatically, flexible with control；Sensor is installed on the arm, is accurately positioned by sensor, to compensate the driving error of the mechanism.
Description
Technical field
The invention belongs to industrial machine technical field, more particularly to a kind of robot rotation transhipment arm mechanism.
Background technology
Transfer robot is the new and high technology that modern age automation field occurs, and has been related to mechanics, mechanics, electricity
Device hydraulic-pneumatic technology, automatic control technology, sensor technology, the ambit such as singlechip technology and computer technology, into
It is an important component in modern mechanical manufacturing production system.Its advantage can be by programming and complete various expections
Task, have the respective advantage of people and machine in self structure and performance, especially embodied artificial intelligence and adaptability.
It is widely used in lathe loading and unloading, stamping machine automatic production line, automatic assembly line, Palletised carry, container etc.
Automatic transporting.Systems in Certain Developed Countries has made a dead lift to greatest extent, and what is gone beyond the limit must be come by transfer robot
Complete.
The content of the invention
The present invention is achieved by the following technical solutions：
The present invention provides a kind of robot rotation transhipment arm mechanism, including armed lever, motor, conveyer belt, rail bar, skate machine
Structure and arm mechanism, the motor are fixed on armed lever bottom side, and the rail bar is fixed on the both sides of armed lever, and the conveyer belt is by electricity
Machine drives；The slide mechanism is moved on rail bar；A cylinder is fixed with the slide mechanism, cylinder passes through air cylinder supporting structure
It is fixed, it is fixed with sensor in the air cylinder supporting structure；The arm mechanism includes support column, knee and strutbeam, the support
Post one end is fixed on one end of air cylinder supporting structure by connecting seat, and by guide rod location and installation, the other end is connected with knee, institute
Strutbeam is stated to be fixed on knee.
Further, the slide mechanism includes U-shaped fixed seat, rail bar wheel, belt wheel, and the rail bar wheel is fixed on U-shaped solid
The surface of inner side two of reservation, the belt wheel is fixed in U-shaped fixed seat, is coordinated with conveyer belt, drives conveyer belt by motor, together
When driving pulley, drive the movement of U-shaped fixed seat.
Further, the rail bar is T-shaped rail bar, is fixed by screws on armed lever.
Further, the knee is right angle connecting rod, and end is provided with adpting flange.
Further, it is further fixed on U-shaped key seat on the strutbeam.
The invention has the advantages that：
The present invention is a kind of robot rotation transhipment arm mechanism, and conveyer belt is driven by using motor, is further driven
The movement of arm, while arm is realized moving horizontally the free degree, the air cylinder driven on the arm is rolled over and spend automatically, tool
There is control flexible；Sensor is installed on the arm, is accurately positioned by sensor, to compensate the driving error of the mechanism.
Certainly, implement any product of the invention to it is not absolutely required to while reaching all the above advantage.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, uses required for being described to embodiment below
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ability
For the those of ordinary skill of domain, on the premise of not paying creative work, can also obtain other attached according to these accompanying drawings
Figure.
Fig. 1 is a kind of structural representation of robot rotation transhipment arm mechanism of the invention；
Fig. 2 is the structural front view of Fig. 1；
Fig. 3 is the structure left view of Fig. 1；
In accompanying drawing, the list of parts representated by each label is as follows：1- armed levers, 2- motors, 3- conveyer belts, 4-U type fixed seats,
5- guide rods, 6- support columns, 7- knees, 8- strutbeams, 9-U type key seats, 10- sensors, 11- rail bars, 12- cylinders.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is all other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Refer to shown in Fig. 1-3, the present invention transports arm mechanism, including armed lever 1, motor 2, biography for a kind of rotation of robot
Band 3, rail bar 11, slide mechanism and arm mechanism, motor 2 is sent to be fixed on the bottom side of armed lever 1, rail bar 11 is fixed on the both sides of armed lever 1,
Conveyer belt 3 is driven by motor 2；Slide mechanism is moved on rail bar 11；A cylinder 12 is fixed with slide mechanism, cylinder 12 leads to
Cross air cylinder supporting structure to fix, drive the arm mechanism to rotate by cylinder 12, sensor 10 is fixed with air cylinder supporting structure, pass through
Sensor determines position of the arm in moving process for 10 2 times, to improve the kinematic accuracy of the mechanism；Arm mechanism includes
Support column 6, knee 7 and strutbeam 8, one end of support column 6 are fixed on one end of air cylinder supporting structure by connecting seat, and by guide rod 5
Location and installation, the other end is connected with knee 7, and strutbeam 8 is fixed on knee 7.
Wherein, slide mechanism includes U-shaped fixed seat 4, rail bar wheel, belt wheel, and rail bar wheel is fixed on the inner side of U-shaped fixed seat 4
Two surfaces, belt wheel is fixed in U-shaped fixed seat 4, is coordinated with conveyer belt 3, conveyer belt 3 is driven by motor 2, while drive belt
Wheel, drives U-shaped fixed seat 4 to move.
Wherein, rail bar 11 is T-shaped rail bar, is fixed by screws on armed lever 1.
Wherein, knee 7 is right angle connecting rod, and end is provided with adpting flange, and each part is fixed by flange.
Wherein, U-shaped key seat 9 is further fixed on strutbeam 8, the U-shaped key seat 9 is a pair of rail bars, is fixed by way of welding
On strutbeam 8, for carrying workpiece.
In the description of this specification, the description of reference term " one embodiment ", " example ", " specific example " etc. means
Live feature and be contained at least one implementation of the invention with reference to the embodiment or the specific features of example description, structure, material
In example or example.In this manual, the schematic representation to above-mentioned term is not necessarily referring to identical embodiment or example.
And, the specific features of description, structure, material or feature can be in one or more any embodiments or example closing
Suitable mode is combined.
Present invention disclosed above preferred embodiment is only intended to help and illustrates the present invention.Preferred embodiment is not detailed
All of details is described, it is only described specific embodiment that the invention is not limited yet.Obviously, according to the content of this specification,
Can make many modifications and variations.This specification is chosen and specifically describes these embodiments, is to preferably explain the present invention
Principle and practical application so that skilled artisan can be best understood by and utilize the present invention.The present invention is only
Limited by claims and its four corner and equivalent.
Claims (5)
1. arm mechanism, including armed lever (1), motor (2), conveyer belt (3), rail bar (11), slip are transported in a kind of robot rotation
Mechanism and arm mechanism, it is characterised in that：The motor (2) is fixed on armed lever (1) bottom side, and the rail bar (11) is fixed on armed lever
(1) both sides, the conveyer belt (3) is driven by motor (2)；The slide mechanism is moved on rail bar (11)；The slip
A cylinder (12) is fixed with mechanism, cylinder (12) is fixed by air cylinder supporting structure, and sensing is fixed with the air cylinder supporting structure
Device (10)；The arm mechanism includes support column (6), knee (7) and strutbeam (8), and described support column (6) one end passes through connecting seat
One end of air cylinder supporting structure is fixed on, and by guide rod (5) location and installation, the other end is connected with knee (7), the strutbeam (8)
It is fixed on knee (7).
2. arm mechanism is transported in a kind of robot rotation according to claim 1, it is characterised in that the slide mechanism bag
U-shaped fixed seat (4), rail bar wheel, belt wheel are included, the rail bar wheel is fixed on the surface of inner side two of U-shaped fixed seat (4), the belt wheel
It is fixed in U-shaped fixed seat (4), coordinates with conveyer belt (3), conveyer belt (3) is driven by motor (2), while driving pulley, band
Dynamic U-shaped fixed seat (4) is mobile.
3. a kind of robot rotation transhipment arm mechanism according to claim 1, it is characterised in that the rail bar (11) is
T-shaped rail bar, is fixed by screws on armed lever (1).
4. a kind of robot rotation transhipment arm mechanism according to claim 1, it is characterised in that the knee (7) is
Right angle connecting rod, end is provided with adpting flange.
5. arm mechanism is transported in a kind of robot rotation according to claim 1, it is characterised in that on the strutbeam (8)
It is further fixed on U-shaped key seat (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611261358.5A CN106737591A (en) | 2016-12-30 | 2016-12-30 | A kind of robot rotation transhipment arm mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611261358.5A CN106737591A (en) | 2016-12-30 | 2016-12-30 | A kind of robot rotation transhipment arm mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106737591A true CN106737591A (en) | 2017-05-31 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611261358.5A Pending CN106737591A (en) | 2016-12-30 | 2016-12-30 | A kind of robot rotation transhipment arm mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106737591A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048874A (en) * | 2018-09-20 | 2018-12-21 | 金石机器人常州股份有限公司 | Truss robot Z axis manipulator temperature compensation means and its compensation method |
| CN111941415A (en) * | 2020-08-07 | 2020-11-17 | 江苏昱博自动化设备有限公司 | Clamping type clamp for power-assisted manipulator |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205552571U (en) * | 2016-01-28 | 2016-09-07 | 马鞍山远荣机器人智能装备有限公司 | Be used for industry transport robot arm mechanism |
-
2016
- 2016-12-30 CN CN201611261358.5A patent/CN106737591A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205552571U (en) * | 2016-01-28 | 2016-09-07 | 马鞍山远荣机器人智能装备有限公司 | Be used for industry transport robot arm mechanism |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048874A (en) * | 2018-09-20 | 2018-12-21 | 金石机器人常州股份有限公司 | Truss robot Z axis manipulator temperature compensation means and its compensation method |
| CN109048874B (en) * | 2018-09-20 | 2024-04-02 | 金石机器人常州股份有限公司 | Truss robot Z-axis manipulator temperature compensation device and compensation method thereof |
| CN111941415A (en) * | 2020-08-07 | 2020-11-17 | 江苏昱博自动化设备有限公司 | Clamping type clamp for power-assisted manipulator |
| CN111941415B (en) * | 2020-08-07 | 2021-09-24 | 江苏昱博自动化设备有限公司 | Clamping type clamp for power-assisted manipulator |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170531 |
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| WD01 | Invention patent application deemed withdrawn after publication |