CN106737808A - A kind of robot device of automation equipment - Google Patents
A kind of robot device of automation equipment Download PDFInfo
- Publication number
- CN106737808A CN106737808A CN201710011168.6A CN201710011168A CN106737808A CN 106737808 A CN106737808 A CN 106737808A CN 201710011168 A CN201710011168 A CN 201710011168A CN 106737808 A CN106737808 A CN 106737808A
- Authority
- CN
- China
- Prior art keywords
- linking arm
- mechanical finger
- bindiny mechanism
- robot device
- automation equipment
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
Abstract
The invention discloses a kind of robot device of automation equipment.The device includes：Fixed support, the first linking arm, the second linking arm, hydraulic cylinder, bindiny mechanism；One end of first linking arm is rotated with support bracket fastened upper end and is connected, and the other end of the first linking arm is rotated with one end of the second linking arm and is connected；Institute's hydraulic cylinder is arranged at the other end of the second linking arm；Bindiny mechanism is arranged at the lower end of the second linking arm, and the upper end of bindiny mechanism rotates with the lower end of the piston rod of hydraulic cylinder and is connected；The lower end of bindiny mechanism is connected with mechanical grip by rotating shaft, and rotating shaft is provided with adsorbent equipment.
Description
Technical field
The present invention relates to machinery manufacturing technology field, more particularly to a kind of robot device of automation equipment.
Background technology
During the manufacturing of machine components, often may require that carries out clamping transfer, prior art to machine components
In, all it is mostly that clamping transfer is carried out to machine components by mechanical arm, and many complex structures of existing mechanical arm, function list
One, use it is also cumbersome, meanwhile, its regulation crawl height is inconvenient, then it is proposed that a kind of automation equipment
Robot device.
The content of the invention
The present invention provides a kind of robot device of automation equipment, can solve in the prior art, and mechanical arm configuration is answered
It is miscellaneous, the problem of unitary function and regulation crawl height inconvenience.
The invention provides a kind of robot device of automation equipment, including fixed support, the first linking arm, the second company
Meet arm, hydraulic cylinder, bindiny mechanism；One end of first linking arm rotates with the support bracket fastened upper end and is connected, and described the
The other end of one linking arm is rotated with one end of second linking arm and is connected；Institute's hydraulic cylinder is arranged at second linking arm
The other end；The bindiny mechanism is arranged at the lower end of second linking arm, and the upper end of the bindiny mechanism and the hydraulic pressure
The lower end of the piston rod of cylinder rotates connection；The lower end of the bindiny mechanism is connected with mechanical grip by rotating shaft, in the rotating shaft
It is provided with adsorbent equipment；The adsorbent equipment includes：Linking arm, pole and electronics magnet, there is multiple screw threads on the linking arm
Hole, linking arm is fixed in rotating shaft by bolt through screwed hole, and the pole is through linking arm and fixes on the connecting arm, institute
Electronics magnet is stated installed in one end of pole；The mechanical grip includes：Cylinder, wedge type block, manipulator matrix, right pin, the right side
Back-moving spring, right mechanical finger, left back-moving spring, left pin and left mechanical finger, the cylinder are connected with wedge type block, institute
State left mechanical finger to be fixed on manipulator matrix by left pin, left back-moving spring, the right machine are housed on left mechanical finger
Tool finger is fixed on manipulator matrix by right pin, and right back-moving spring is housed on right mechanical finger.
It is preferred that the bindiny mechanism is provided with motor, the output shaft of the motor passes through belt and rotating shaft
Rotate connection.
It is preferred that the support bracket fastened upper end is provided with illuminating lamp.
It is preferred that the fixed support is provided with control cabinet, the control cabinet be used to controlling the motor start or
The motion of cylinder and the illuminating lamp are opened or closed in stopping, the flexible of the hydraulic cylinder, the mechanical grip.
It is preferred that told electronics magnet is arranged on one end of pole, the magnet connector and electricity by magnet connector
Infrared inductor is installed between sub- magnet.
It is preferred that being provided with anti-slip veins on the left mechanical finger and right mechanical finger.
Manipulator of the present invention, infrared inductor is provided with the upper end of electronics magnet, can be in machine by infrared inductor
When tool arm is close to the product to be adsorbed, the positional distance to the product to be adsorbed senses, and facilitates electronics magnet to reach
Position where the product to be adsorbed；The setting of mechanical grip, is sufficiently used lever principle, under the action of cylinder,
Due to the effect of wedge type block and back-moving spring, mechanical finger on matrix by the up and down action of cylinder resolve into up and down with
The action of left and right both direction, on automation equipment is realized capture part operation on play the role of it is prominent；Can be by hydraulic pressure
Cylinder adjusting connection mechanism highly, further adjusts the height of mechanical grip, so that conveniently lift weight, the manipulator overall structure
Simply, it is feature-rich, and then brought great convenience to machine-building.
Brief description of the drawings
A kind of robot device structural representation of automation equipment that Fig. 1 is provided for the present invention；
Fig. 2 is adsorbent equipment schematic diagram；
Fig. 3 is mechanical grip schematic diagram.
Description of reference numerals：
1st, fixed support；2nd, the first linking arm；3rd, motor；4th, the second linking arm；5th, hydraulic cylinder；6th, bindiny mechanism；
7th, rotating shaft；8th, adsorbent equipment；9th, mechanical grip；10th, belt；11 output shafts；12nd, linking arm；13rd, pole；14th, electronics magnet；
15th, magnet connector；16th, infrared inductor；17th, screwed hole；18th, cylinder；19th, wedge type block；20th, manipulator matrix；21st, right pin
Nail；22nd, right back-moving spring；23rd, right mechanical finger；24th, left back-moving spring；25th, left pin；26th, left mechanical finger；27th, illuminate
Lamp；28th, control cabinet.
Specific embodiment
Below in conjunction with the accompanying drawings, the specific embodiment of the present invention is described in detail, it is to be understood that of the invention
Protection domain do not limited by specific embodiment.
As Figure 1-3, a kind of robot device of automation equipment, including fixed support be the embodiment of the invention provides
1st, the first linking arm 2, the second linking arm 4, hydraulic cylinder 5, bindiny mechanism 6；One end of first linking arm 2 and the fixed branch
The upper end of frame 1 rotates connection, and the other end of first linking arm 2 is rotated with one end of second linking arm 4 and is connected；Institute's liquid
Cylinder pressure 5 is arranged at the other end of second linking arm 4；The bindiny mechanism 6 is arranged at the lower end of second linking arm 4,
And the upper end of the bindiny mechanism 6 rotates with the lower end of the piston rod of the hydraulic cylinder 5 and is connected；The lower end of the bindiny mechanism 6
Mechanical grip 9 is connected with by rotating shaft 7, the rotating shaft 7 is provided with adsorbent equipment 8；The adsorbent equipment 8 includes：Linking arm 12,
Pole 13 and electronics magnet 14, there is multiple screwed holes 17 on the linking arm 12, linking arm 12 passes through screwed hole by bolt
17 are fixed in rotating shaft 7, and the pole 13 is through linking arm 12 and is fixed on linking arm 12, and the electronics magnet 14 is arranged on
One end of pole 13；The mechanical grip includes：Cylinder 18, wedge type block 19, manipulator matrix 20, right pin 21, right reset bullet
Spring 22, right mechanical finger 23, left back-moving spring 24, left pin 25 and left mechanical finger 26, the cylinder 18 and wedge type block 19
It is connected, the left mechanical finger 26 is fixed on manipulator matrix 20 by left pin 25, equipped with a left side on left mechanical finger 26
Back-moving spring 24, the right mechanical finger 23 is fixed on manipulator matrix 20 by right pin 21, is filled on right mechanical finger 23
There is right back-moving spring 22.Manipulator of the present invention, infrared inductor is provided with the upper end of electronics magnet, can by infrared inductor
So that when mechanical arm is close to the product to be adsorbed, the positional distance to the product to be adsorbed senses, and facilitates electronics magnetic
Position where the iron arrival product to be adsorbed；The setting of mechanical grip, is sufficiently used lever principle, in the dynamic of cylinder
Under work, due to the effect of wedge type block and back-moving spring, the mechanical finger on matrix resolves into the up and down action of cylinder
Up and down with the action of left and right both direction, on automation equipment is realized capture part operation on play the role of it is prominent；Can lead to
Cross hydraulic cylinder adjusting connection mechanism highly, further the height of regulation mechanical grip, so as to conveniently lift weight, the manipulator is whole
Body simple structure, it is feature-rich, and then brought great convenience to machine-building.
Further, the bindiny mechanism 6 is provided with motor 3, and the output shaft 11 of the motor 3 passes through belt
10 are connected with the rotation of rotating shaft 7.
Further, the upper end of the fixed support 1 is provided with illuminating lamp 27.
Further, the fixed support 1 is provided with control cabinet 28, and the control cabinet 28 is used to control the motor
3 start or stop, in the flexible of the hydraulic cylinder 5, the mechanical grip 9 motion of cylinder 18 and the illuminating lamp 27 open or
Close.
Further, tell that electronics magnet 14 is arranged on one end of pole 13 by magnet connector 15, the magnet connects
Infrared inductor 16 is installed between fitting 15 and electronics magnet 14.
Further, anti-slip veins have been provided with the left mechanical finger 26 and right mechanical finger 23.
In sum, a kind of robot device of automation equipment provided in an embodiment of the present invention, including fixed support,
One linking arm, the second linking arm, hydraulic cylinder, bindiny mechanism；One end of first linking arm and the support bracket fastened upper end
Connection is rotated, the other end of first linking arm is rotated with one end of second linking arm and is connected；Institute's hydraulic cylinder is arranged at
The other end of second linking arm；The bindiny mechanism is arranged at the lower end of second linking arm, and the bindiny mechanism
The lower end of upper end and the piston rod of the hydraulic cylinder rotate and be connected；The lower end of the bindiny mechanism is connected with machinery by rotating shaft
Clamping jaw, the rotating shaft is provided with adsorbent equipment；The adsorbent equipment includes：Linking arm, pole and electronics magnet, the connection
There are multiple screwed holes on arm, linking arm is fixed in rotating shaft by bolt through screwed hole, the pole is through linking arm and consolidates
Determine on the connecting arm, the electronics magnet is arranged on one end of pole；The mechanical grip includes：Cylinder, wedge type block, manipulator
Matrix, right pin, right back-moving spring, right mechanical finger, left back-moving spring, left pin and left mechanical finger, the cylinder with
Wedge type block is connected, and the left mechanical finger is fixed on manipulator matrix by left pin, equipped with left multiple on left mechanical finger
Position spring, the right mechanical finger is fixed on manipulator matrix by right pin, and right back-moving spring is housed on right mechanical finger.
Manipulator of the present invention, infrared inductor is provided with the upper end of electronics magnet, can be close in mechanical arm by infrared inductor
During the product to be adsorbed, the positional distance to the product to be adsorbed senses, and facilitates electronics magnet to reach to be adsorbed
Product where position；The setting of mechanical grip, is sufficiently used lever principle, under the action of cylinder, due to wedge
The effect of block and back-moving spring, mechanical finger on matrix by the up and down action of cylinder resolve into up and down with left and right two
The action in direction, on automation equipment is realized capture part operation on play the role of it is prominent；Can be adjusted by hydraulic cylinder and connected
Connection mechanism highly, further adjusts the height of mechanical grip, so as to conveniently lift weight, the manipulator overall structure is simple, work(
Can be abundant, and then brought great convenience to machine-building.
Disclosed above is only several specific embodiments of the invention, but, the embodiment of the present invention is not limited to this, appoints
What what those skilled in the art can think change should all fall into protection scope of the present invention.
Claims (6)
1. a kind of robot device of automation equipment, including fixed support (1), the first linking arm (2), the second linking arm (4),
Hydraulic cylinder (5), bindiny mechanism (6)；One end of first linking arm (2) rotates with the upper end of the fixed support (1) and is connected,
The other end of first linking arm (2) is rotated with one end of second linking arm (4) and is connected；Institute's hydraulic cylinder (5) is arranged at
The other end of second linking arm (4)；The bindiny mechanism (6) is arranged at the lower end of second linking arm (4), and described
The upper end of bindiny mechanism (6) rotates with the lower end of the piston rod of the hydraulic cylinder (5) and is connected；The lower end of the bindiny mechanism (6)
Mechanical grip (9) is connected with by rotating shaft (7), the rotating shaft (7) is provided with adsorbent equipment (8)；Adsorbent equipment (8) bag
Include：Linking arm (12), pole (13) and electronics magnet (14), there is multiple screwed holes (17) on the linking arm (12), connection
Arm (12) is fixed in rotating shaft (7) by bolt through screwed hole (17), and the pole (13) is through linking arm (12) and fixes
On linking arm (12), the one end of the electronics magnet (14) installed in pole (13)；The mechanical grip includes：Cylinder
(18), wedge type block (19), manipulator matrix (20), right pin (21), right back-moving spring (22), right mechanical finger (23), Zuo Fu
Position spring (24), left pin (25) and left mechanical finger (26), the cylinder (18) are connected with wedge type block (19), the left side
Mechanical finger (26) is fixed on manipulator matrix (20) by left pin (25), and left reset bullet is housed on left mechanical finger (26)
Spring (24), the right mechanical finger (23) is fixed on manipulator matrix (20) by right pin (21), right mechanical finger (23)
It is upper that right back-moving spring (22) is housed.
2. a kind of robot device of automation equipment as claimed in claim 1, it is characterised in that the bindiny mechanism (6)
Motor (3) is provided with, the output shaft (11) of the motor (3) is rotated with rotating shaft (7) by belt (10) and is connected.
3. a kind of robot device of automation equipment as claimed in claim 1, it is characterised in that the fixed support (1)
Upper end be provided with illuminating lamp (27).
4. a kind of robot device of automation equipment as claimed in claim 1, it is characterised in that the fixed support (1)
Control cabinet (28) is provided with, the control cabinet (28) is for controlling the motor (3) to start or stop, the hydraulic cylinder
(5) motion of cylinder (18) and the illuminating lamp (27) are opened or closed in the flexible, mechanical grip (9).
5. a kind of robot device of automation equipment as claimed in claim 1, it is characterised in that tell electronics magnet (14)
Pacified between one end of pole (13), the magnet connector (15) and electronics magnet (14) by magnet connector (15)
Equipped with infrared inductor (16).
6. a kind of robot device of automation equipment as claimed in claim 1, it is characterised in that the left mechanical finger
(26) anti-slip veins and on right mechanical finger (23) have been provided with.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710011168.6A CN106737808A (en) | 2017-01-06 | 2017-01-06 | A kind of robot device of automation equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710011168.6A CN106737808A (en) | 2017-01-06 | 2017-01-06 | A kind of robot device of automation equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106737808A true CN106737808A (en) | 2017-05-31 |
Family
ID=58950151
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710011168.6A Pending CN106737808A (en) | 2017-01-06 | 2017-01-06 | A kind of robot device of automation equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106737808A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107717400A (en) * | 2017-11-27 | 2018-02-23 | 苏州三屹晨光自动化科技有限公司 | A kind of rotor magnet transportation manipulator |
| US11014226B2 (en) | 2018-10-26 | 2021-05-25 | Toyota Motor Engineering & Manufacturing North America, Inc. | Automated pick and place apparatuses with object alignment systems |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104070517A (en) * | 2014-06-25 | 2014-10-01 | 周开雄 | Finger-imitating mechanical arm |
| CN104369195A (en) * | 2014-10-13 | 2015-02-25 | 江苏三丕机器人科技有限公司 | Mechanical arm |
| CN204471395U (en) * | 2015-01-26 | 2015-07-15 | 湖北港源电气有限公司 | A kind of robot device of automation equipment |
-
2017
- 2017-01-06 CN CN201710011168.6A patent/CN106737808A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104070517A (en) * | 2014-06-25 | 2014-10-01 | 周开雄 | Finger-imitating mechanical arm |
| CN104369195A (en) * | 2014-10-13 | 2015-02-25 | 江苏三丕机器人科技有限公司 | Mechanical arm |
| CN204471395U (en) * | 2015-01-26 | 2015-07-15 | 湖北港源电气有限公司 | A kind of robot device of automation equipment |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107717400A (en) * | 2017-11-27 | 2018-02-23 | 苏州三屹晨光自动化科技有限公司 | A kind of rotor magnet transportation manipulator |
| US11014226B2 (en) | 2018-10-26 | 2021-05-25 | Toyota Motor Engineering & Manufacturing North America, Inc. | Automated pick and place apparatuses with object alignment systems |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170531 |
|
| RJ01 | Rejection of invention patent application after publication |