CN107020624A - A kind of manipulator with adjustable structure - Google Patents
A kind of manipulator with adjustable structure Download PDFInfo
- Publication number
- CN107020624A CN107020624A CN201710398636.XA CN201710398636A CN107020624A CN 107020624 A CN107020624 A CN 107020624A CN 201710398636 A CN201710398636 A CN 201710398636A CN 107020624 A CN107020624 A CN 107020624A
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- China
- Prior art keywords
- manipulator
- motor
- sliding block
- fixed
- gear
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- 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.)
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Classifications
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention proposes a kind of manipulator with adjustable structure, including robot device and nozzle unit.The manipulator that this kind has adjustable structure drives arm to carry out front and rear movement in the upper end of slide rail one by motor control pinion rotation, sliding block belt holder is moved up and down above and below motor drive, the movement that rotary electric machine drives drive gear to rotate to drive suction cup carrier to carry out horizontal direction, after sucking disk bar is moved to correct position, nozzle unit work by product inhale and, then product is carried to correct position by motor, motor and rotary electric machine work, clear in structure, carry effect good, be conducive to improving production efficiency.
Description
Technical field
The present invention relates to machinery equipment field, more particularly to a kind of manipulator with adjustable structure.
Background technology
In plant equipment, various processing equipment is there is, the use of manipulator can be described as spreading all over every field, it is most of
All there is robot device in plant equipment, and existing conveying robot is generally all that product is gripped using tong,
Due to the particularity of tong, easily cause product to drop so that product is damaged in itself carrying product process, can not meet
Production requirement；Meanwhile, existing tong is due to using metal material, for the product easily damaged to some surfaces, metal
Tong is easily weighed wounded to product surface or cut occurs, and existing manipulator has the defect of controllability difference.
Therefore a kind of manipulator with adjustable structure is proposed, is that relevant technical staff in the field needs what is solved to ask
Topic.
The content of the invention
It is an object of the invention to provide a kind of manipulator with adjustable structure.
The present invention is for the technical scheme that is used of its technical problem of solution：
A kind of manipulator with adjustable structure, including the manipulator for grasp handling product, the manipulator dress
Put including manipulator base, be vertically connected at two manipulator sides seat of the manipulator base upper end and be fixed on the machine
The manipulator upper bed-plate of tool hand side seat upper end, the manipulator side seat bottom is also protruding with transfer strip, and the transfer strip surface is opened
With some through holes, screw spins to through hole and is fastenedly connected manipulator side seat with manipulator base, on the manipulator
The susceptor surface left and right sides is further fixed on two slide rails one, and it is spacing that the manipulator upper bed-plate rear and front end is protruding with arm
Sliding block two is additionally provided with block, the slide rail one, the upper end of sliding block two is fixed with motor base, and the medial surface of slide rail one is in dentation
Structure, the motor base upper end is fixed with motor, and the motor output shaft is through motor base and extends to motor base lower end, described
Motor output shaft end is connected with gear, and the gear is engaged with the medial surface of slide rail one, and arm is further fixed at the motor base,
The arm is located at the motor front end, and the arm right lateral surface is offered on rear side of two vertical direction chutes, the chute
Provided with upper sliding block belt holder, the upper sliding block belt holder front end, which is protruding with, is embedded part, and the upper sliding block belt holder passes through
It is embedded part to be embedded in chute, a lifting dress for being used to control sliding block belt holder to move up and down is additionally provided with the arm
Put, the lowering or hoisting gear includes a motor, and the motor output shaft end is connected with gear one, the upper sliding block belt holder front end
Downside is further fixed on gear two, and the gear one is connected with the gear two by chain, and the motor is arranged at the arm
Inner side, the upper sliding block belt holder upper and lower ends, which are offered, is provided with rotating shaft three, lower end at small shaft hole, the small shaft hole in upper end
Rotating shaft four is provided with small shaft hole, the outer cover of rotating shaft three is provided with driven pulley one, and the outer cover of rotating shaft four is provided with driving wheel
One, the driving wheel one is connected with the driven pulley one by belt one, and rotating shaft four is also connected by shaft coupling with rotary electric machine,
Also be coaxially connected with rear side of driving wheel on the left of drive gear, the upper sliding block belt holder and be further fixed on locking sliding seat, it is described on
Sliding block belt holder offers two sucker frame aperture, institute with the lock L-shaped structure of sliding seat, the lock sliding seat downside surface
State and suction cup carrier is fixed with sucker frame aperture, the suction cup carrier surface is in dentalation, the suction cup carrier is engaged with drive gear, institute
State suction cup carrier bottom and be fixed with three sucking disk bars, sucking disk bar front and rear sides upper end is equipped with accurate fixed block, described accurate
Fixed block surface has a perforation, tells and nozzle unit is fixed with perforation.
Further, the nozzle unit includes assembly and is connected to the suction nozzle of the assembly lower end, the dress
Part includes main body bar, and the main body bar is in hollow structure, and the main body bar upper end is connected at induced-draught fan by pipeline, described
Main body bar upper end is arranged with firm cylinder, and the firm cylinder lower end is connected with two firm bolts, and the main body bar bottom is connected with
Switching nut, the switching nut left and right sides is respectively connected with control valve, the switching nut and the main body bar contact surface end
Sealing ring is additionally provided with, it is also in hollow structure, the suction nozzle bottom that the switching nut bottom, which is connected with inside suction nozzle, the suction nozzle,
With opening.
Further, the robot device is located at frame upper end, and the frame surface is fixed with workbench, the machine
At hand seat is anchored on workbench upper end to tool by screw, and the bottom of the frame is further fixed on some runners.
The advantage of the invention is that：
This kind has the robot manipulator structure novelty of adjustable structure, and ingenious in design, controllability is strong.
The manipulator that this kind has adjustable structure drives arm to enter in the upper end of slide rail one by motor control pinion rotation
Sliding block belt holder is moved up and down above and below movement before and after row, motor drive, and rotary electric machine drives drive gear to rotate to drive
Suction cup carrier carry out horizontal direction movement, after sucking disk bar is moved to correct position, nozzle unit work by product inhale and, then
Product is carried to correct position by motor, motor and rotary electric machine work, and clear in structure, carrying effect is good, is conducive to improving
Production efficiency.
Brief description of the drawings
Fig. 1 is a kind of structural representation of manipulator with adjustable structure proposed by the present invention.
Fig. 2 is robot device rearview.
Fig. 3 is nozzle unit structural representation.
Numeral and the corresponding component title represented by letter in figure：
Wherein：1- frames；5- robot devices；6- nozzle units；11- workbenches；12- runners；51- manipulators bottom
Seat；52- manipulator sides seat；53- manipulator upper bed-plates；54- slide rails one；55- arm limited blocks；56- motor bases；57- motors；
58- arms；The upper sliding block belt holders of 59-；510- driven pulleys one；511- belts one；512- drive gears；513- locks sliding seat；
514- suction cup carriers；515- sucking disk bars；The accurate fixed blocks of 516-；517- rotary electric machines；61- suction nozzles；621- main body bars；622- is consolidated
Cylinder；623- consolidates bolt；624- switching nuts；625- control valves；626- sealing rings.
Embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, tie below
Diagram and specific embodiment are closed, the present invention is expanded on further.
As shown in Figure 1 to Figure 3, a kind of manipulator with adjustable structure proposed by the present invention, including removed for capturing
The manipulator 5 of product is transported, the robot device 5 includes manipulator base 51, is vertically connected in the manipulator base 51
Two manipulator sides seat 52 at end and the manipulator upper bed-plate 53 for being fixed on 52 upper ends of manipulator side seat, the manipulator
Side 52 bottoms of seat are also protruding with transfer strip, and some through holes have been issued on the transfer strip surface, and screw spins to through hole and by machine
Tool hand side seat 52 is fastenedly connected with manipulator base 51, and the surface left and right sides of manipulator upper bed-plate 53 is further fixed on two cunnings
Rail 1, the rear and front end of manipulator upper bed-plate 53 is protruding with arm limited block 55, the slide rail 1 and is additionally provided with cunning
Block two, the upper end of sliding block two is fixed with motor base 56, and the medial surface of slide rail 1 is on dentalation, the motor base 56
End is fixed with motor 57, and the output shaft of motor 57 is through motor base 56 and extends to the lower end of motor base 56, and the motor 57 is defeated
Go out shaft end and be connected with gear, the gear is engaged with the medial surface of slide rail 1, and arm 58 is further fixed at the motor base 56,
The arm 58 is located at the front end of motor 57, and the right lateral surface of arm 58 offers two vertical direction chutes, the cunning
Upper sliding block belt holder 59 is provided with rear side of groove, the upper front end of sliding block belt holder 59, which is protruding with, is embedded part, the upper sliding block
Belt holder 59 is embedded in chute by being embedded part, and one is additionally provided with the arm 58 is used to control sliding block belt holder 59
The lowering or hoisting gear of lower movement, the lowering or hoisting gear includes a motor, and the motor output shaft end is connected with gear one, it is described above and below
Gear two is further fixed on the downside of the front end of sliding block belt holder 59, the gear one is connected with the gear two by chain, the electricity
Machine is arranged at the inner side of arm 58, and the upper upper and lower ends of sliding block belt holder 59 offer small shaft hole, small turn of upper end
It is provided with axis hole at rotating shaft three, the small shaft hole in lower end and is provided with rotating shaft four, the outer cover of rotating shaft three is provided with driven pulley 1, institute
The outer cover of rotating shaft four is stated provided with driving wheel one, the driving wheel one is connected with the driven pulley 1 by belt 1, turned
Axle four is also connected by shaft coupling with rotary electric machine 517, is also coaxially connected with drive gear 512 on rear side of driving wheel, it is described above and below
The left side of sliding block belt holder 59 is further fixed on locking sliding seat 513, and the upper sliding block belt holder 59 is in L with the lock sliding seat 513
Shape structure, the downside surface of lock sliding seat 513 offers in two sucker frame aperture, the sucker frame aperture and is fixed with suction cup carrier
514, the surface of suction cup carrier 514 is in dentalation, and the suction cup carrier 514 is engaged with drive gear 512, the suction cup carrier 514
Bottom is fixed with three sucking disk bars 515, and the front and rear sides upper end of sucking disk bar 515 is equipped with accurate fixed block 516, described accurate
The surface of fixed block 516 has a perforation, tells and nozzle unit 6 is fixed with perforation.
Further, the nozzle unit 6 includes assembly and is connected to the suction nozzle 61 of the assembly lower end, described
Assembly includes main body bar 621, and the main body bar 621 is in hollow structure, and the upper end of main body bar 621 is connected to suction by pipeline
At blower fan, the upper end of main body bar 621 is arranged with firm cylinder 622, and the firm lower end of cylinder 622 is connected with two firm bolts
623, the bottom of main body bar 621 is connected with switching nut 624, and switching nut 624 left and right sides is respectively connected with control valve
625, the switching nut 624 is additionally provided with sealing ring 626, switching nut 624 bottom with the contact surface end of main body bar 621
It is also in hollow structure to be connected with inside suction nozzle 61, the suction nozzle 61, and the bottom of suction nozzle 61 has opening.
Further, the robot device 5 is located at the upper end of frame 1, and the surface of frame 1 is fixed with workbench 11,
The manipulator base 51 is anchored on the upper end of workbench 11 by screw, and the bottom of frame 1 is further fixed on some runners 12.
The manipulator that this kind has adjustable structure drives arm to enter in the upper end of slide rail one by motor control pinion rotation
Sliding block belt holder is moved up and down above and below movement before and after row, motor drive, and rotary electric machine drives drive gear to rotate to drive
Suction cup carrier carry out horizontal direction movement, after sucking disk bar is moved to correct position, nozzle unit work by product inhale and, then
Product is carried to correct position by motor, motor and rotary electric machine work, and clear in structure, carrying effect is good, is conducive to improving
Production efficiency.
General principle, principal character and the advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the simply explanation described in above-described embodiment and specification is originally
The principle of invention, various changes and modifications of the present invention are possible without departing from the spirit and scope of the present invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent is defined.
Claims (3)
1. a kind of manipulator with adjustable structure, including the manipulator (5) for grasp handling product, it is characterised in that：
The robot device (5) includes manipulator base (51), is vertically connected at two machines of the manipulator base (51) upper end
Tool hand side seat (52) and the manipulator upper bed-plate (53) for being fixed on described manipulator side seat (52) upper end, the manipulator side seat
(52) bottom is also protruding with transfer strip, and some through holes have been issued on the transfer strip surface, and screw spins to through hole and by machinery
Hand side seat (52) is fastenedly connected with manipulator base (51), and manipulator upper bed-plate (53) the surface left and right sides is further fixed on two
Bar slide rail one (54), manipulator upper bed-plate (53) rear and front end is protruding with arm limited block (55), the slide rail one
(54) place is additionally provided with sliding block two, and the upper end of sliding block two is fixed with motor base (56), and described (54) medial surface of slide rail one is in dentation
Structure, motor base (56) upper end is fixed with motor (57), and motor (57) output shaft is through motor base (56) and extends
To motor base (56) lower end, motor (57) the output shaft end is connected with gear, the gear and slide rail one (54) medial surface
Engagement, motor base (56) place is further fixed on arm (58), and the arm (58) is located at the motor (57) front end, the hand
Arm (58) right lateral surface offers and upper sliding block belt holder (59) is provided with rear side of two vertical direction chutes, the chute, described
Upper sliding block belt holder (59) front end, which is protruding with, is embedded part, and the upper sliding block belt holder (59) is embedded at chute by being embedded part
Interior, arm (58) place is additionally provided with a lowering or hoisting gear for being used to control sliding block belt holder (59) to move up and down, the liter
Falling unit includes a motor, and the motor output shaft end is connected with the downside of gear one, upper sliding block belt holder (59) front end
Gear two is further fixed on, the gear one is connected with the gear two by chain, and the motor is arranged at the arm (58)
Inner side, upper sliding block belt holder (59) upper and lower ends, which are offered, is provided with rotating shaft three at small shaft hole, the small shaft hole in upper end,
Rotating shaft four is provided with the small shaft hole in lower end, the outer cover of rotating shaft three is provided with outside driven pulley one (510), the rotating shaft four and is arranged
There is driving wheel one, the driving wheel one is connected with the driven pulley one (510) by belt one (511), rotating shaft four also passes through connection
Axle device is connected with rotary electric machine (517), and drive gear (512), the upper sliding block belt are also coaxially connected with rear side of driving wheel
Lock sliding seat (513) is further fixed on the left of frame (59), the upper sliding block belt holder (59) is in L with the lock sliding seat (513)
Shape structure, lock sliding seat (513) downside surface, which is offered in two sucker frame aperture, the sucker frame aperture, is fixed with suction cup carrier
(514), suction cup carrier (514) surface is in dentalation, and the suction cup carrier (514) is engaged with drive gear (512), described to inhale
Plate rail (514) bottom is fixed with three sucking disk bars (515), and sucking disk bar (515) the front and rear sides upper end is equipped with accurate fixation
Block (516), accurate fixed block (516) surface has a perforation, tells and nozzle unit (6) is fixed with perforation.
2. a kind of manipulator with adjustable structure according to claim 1, it is characterised in that：The nozzle unit
(6) include assembly and be connected to the suction nozzle (61) of the assembly lower end, the assembly includes main body bar (621), institute
Main body bar (621) is stated in hollow structure, main body bar (621) upper end is connected at induced-draught fan by pipeline, the main body bar
(621) upper end is arranged with firm cylinder (622), and firm cylinder (622) lower end is connected with two firm bolts (623), the master
Body rod (621) bottom is connected with switching nut (624), and described switching nut (624) left and right sides is respectively connected with control valve
(625), the switching nut (624) is additionally provided with sealing ring (626), the switching spiral shell with main body bar (621) the contact surface end
Cap (624) bottom is connected with suction nozzle (61), and the internal suction nozzle (61) is also in hollow structure, and suction nozzle (61) bottom, which has, opens
Mouthful.
3. a kind of manipulator with adjustable structure according to claim 1, it is characterised in that：The robot device
(5) it is located at frame (1) upper end, frame (1) surface is fixed with workbench (11), and the manipulator base (51) passes through spiral shell
Clench and be fixed in workbench (11) upper end, frame (1) bottom is further fixed on some runners (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710398636.XA CN107020624A (en) | 2017-05-31 | 2017-05-31 | A kind of manipulator with adjustable structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710398636.XA CN107020624A (en) | 2017-05-31 | 2017-05-31 | A kind of manipulator with adjustable structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107020624A true CN107020624A (en) | 2017-08-08 |
Family
ID=59529484
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710398636.XA Pending CN107020624A (en) | 2017-05-31 | 2017-05-31 | A kind of manipulator with adjustable structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107020624A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108528796A (en) * | 2018-03-02 | 2018-09-14 | 刘书雄 | A kind of cillin bottle crawl alternative |
| CN108582028A (en) * | 2018-07-09 | 2018-09-28 | 深圳市创世纪机械有限公司 | Five axis running vehicle type manipulators |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105171510A (en) * | 2015-07-20 | 2015-12-23 | 安徽无为冠雄建材机械有限公司 | Large loading tray carrying device |
-
2017
- 2017-05-31 CN CN201710398636.XA patent/CN107020624A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105171510A (en) * | 2015-07-20 | 2015-12-23 | 安徽无为冠雄建材机械有限公司 | Large loading tray carrying device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108528796A (en) * | 2018-03-02 | 2018-09-14 | 刘书雄 | A kind of cillin bottle crawl alternative |
| CN108528796B (en) * | 2018-03-02 | 2020-09-04 | 温州曼昔维服饰有限公司 | XiLin bottle snatchs replacement device |
| CN108582028A (en) * | 2018-07-09 | 2018-09-28 | 深圳市创世纪机械有限公司 | Five axis running vehicle type manipulators |
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| 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 | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170808 |