CN107030677A - A kind of the axle tow-armed robot of space four and its Scroll handler - Google Patents
A kind of the axle tow-armed robot of space four and its Scroll handler Download PDFInfo
- Publication number
- CN107030677A CN107030677A CN201710280984.7A CN201710280984A CN107030677A CN 107030677 A CN107030677 A CN 107030677A CN 201710280984 A CN201710280984 A CN 201710280984A CN 107030677 A CN107030677 A CN 107030677A
- Authority
- CN
- China
- Prior art keywords
- limited block
- motor
- reductor
- space
- mechanical arm
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H19/00—Changing the web roll
- B65H19/22—Changing the web roll in winding mechanisms or in connection with winding operations
- B65H19/30—Lifting, transporting, or removing the web roll; Inserting core
Abstract
A kind of Scroll handler, including frame, and it is arranged on the axle tow-armed robot of space four in frame, the axle tow-armed robot of space four includes symmetrically arranged two manipulators, manipulator includes first mechanical arm component, be connected the second mechanical arm component on first mechanical arm component, and it is fixedly installed on the claw on second mechanical arm component, first mechanical arm component includes the first motor, first reductor and the first revoliving arm, first revoliving arm is connected by the first reductor and the first motor, second mechanical arm component includes the second motor, second reductor and the second revoliving arm, second motor and the second reductor are fixedly installed on the first revoliving arm, second revoliving arm is connected by the second reductor and the second motor.A kind of Scroll handler of the present invention, is the replacing that Scroll on multiple working positions can be achieved using a set of axle tow-armed robot of space four, simple in construction, reduces complete machine cost.
Description
Technical field
The present invention relates to the cutting devices for taking-up of strip-shaped material, more particularly to a kind of axle tow-armed robot of space four and its receipts
Spool handler.
Background technology
Cutting machine be it is a kind of by wide cut paper, mica tape or film dividing into a plurality of narrow material plant equipment, it is existing
The cutting machine of in the market realizes the handling of Scroll typically by swinging mechanical hand, however, because cutting machine is generally set
Two working positions above and below being equipped with, a set of swinging mechanical hand can only realize the handling of a Scroll, the winding of every cutting machine
Axle handler need to cause complete machine cost higher with many set swinging mechanical hands.
The content of the invention
In order to overcome the deficiencies in the prior art, it is an object of the invention to provide a kind of axle tow-armed robot of space four and its
Scroll handler, is the replacing that Scroll on multiple working positions can be achieved using a set of manipulator.
To solve the above problems, the technical solution adopted in the present invention is as follows：
A kind of axle tow-armed robot of space four, including symmetrically arranged two manipulators, the manipulator include the first machine
Tool arm component, be connected the second mechanical arm component on first mechanical arm component, and is fixedly installed on second mechanical arm group
Claw on part, the first mechanical arm component includes the first motor, the first reductor and the first revoliving arm, and described first slows down
The output shaft drive connection of machine and the first motor, first revoliving arm is connected by the first reductor and the first motor,
The second mechanical arm component includes the second motor, the second reductor and the second revoliving arm, second reductor and the second electricity
The output shaft drive connection of machine, second motor and the second reductor are fixedly installed on the first revoliving arm, described second time
Pivoted arm is connected by the second reductor and the second motor.
Further, first motor and the second motor are servomotor.
Further, the claw includes the fixed support being fixedly installed on the second revoliving arm, is arranged on the fixation
Drive mechanism and linkage on support, the fixed support include supporting part, and the supporting part includes fixed plate, and sets
The first limited block and the second limited block in fixed plate are put, the drive mechanism includes cylinder and drive rod, and the cylinder is set
Put on the fixed support, the piston rod connection of described drive rod one end and cylinder, the other end sequentially passes through the first limited block
With the second limited block, the linkage includes handgrip part and connecting rod, and the handgrip part is rotatably arranged in fixed plate, described
One end of connecting rod and the end of handgrip part are hinged, and the other end is hinged on the drive rod between the first limited block and the second limited block
On, when handgrip part is in closure state, the hinged place of connecting rod and drive rod is supported in the first limited block or the second limited block
On, the extended line of the connecting rod is less than or equal to opening the angle between the direction to be run of handgrip part drive rod
90°。
Further, the linkage also includes the 3rd limited block, and the 3rd limited block is fixedly installed on the first limit
On drive rod between position block and the second limited block, one end and the end of handgrip part of the connecting rod are hinged, the other end and the
Three limited blocks are hinged.
Further, axis hole, two axis hole coaxial lines, driving are offered on first limited block and the second limited block
Bar is sequentially passed through by axis hole to be arranged on the first limited block and the second limited block.
Further, the fixed support also includes the air cylinder fixed plate for being fixedly installed on supporting part one end, the cylinder
It is fixedly installed in air cylinder fixed plate.
A kind of Scroll handler, including the above-mentioned axle tow-armed robot of space four.
Further, a kind of Scroll handler also includes organic frame, is arranged on multiple working positions in frame,
And the dismounting position and position to be installed of frame side are arranged on, first motor and the first reductor are fixedly installed on machine by flange
On frame, two manipulators can capture Scroll, and be moved on dismounting position, position to be installed or each working position.
Compared with prior art, the beneficial effects of the present invention are：A kind of Scroll handler of the present invention, passes through
Motor, reductor and revoliving arm realize claw and moved between multiple working positions, utilize a set of axle both arms machine of space four
Device people is the replacing that Scroll on multiple working positions can be achieved, simple in construction, and control accuracy is high, greatly reduces complete machine cost.
Brief description of the drawings
Fig. 1 shows the structural representation of Scroll handler of the present invention；
Fig. 2 shows the partial cutaway view schematic of Scroll handler shown in Fig. 1；
Fig. 3 shows the structural representation under another state of Scroll handler shown in Fig. 1；
Fig. 4 shows the structural representation of the claw of Scroll handler shown in Fig. 2；
Fig. 5 shows the sectional view of claw shown in Fig. 4；
Fig. 6 shows the structural representation of the supporting part of claw shown in Fig. 4.
Wherein, 1 is frame, and 2 be dismounting position, and 3 be position to be installed, and 4 be the first working position, and 5 be the second working position, and 6 be winding
Axle, 7 be manipulator, and 71 be first mechanical arm component, and 711 be the first motor, and 712 be the first reductor, and 713 be the first revolution
Arm, 72 be second mechanical arm component, and 721 be the second motor, and 722 be the second reductor, and 723 be the second revoliving arm, and 73 be claw,
731 be air cylinder fixed plate, and 732 be supporting part, and 7321 be fixed plate, and 7322 be the first limited block, and 7323 be the second limited block,
7324 be axis hole, and 7325 be axle sleeve, and 733 be cylinder, and 734 be drive rod, and 735 be handgrip part, and 736 be connecting rod, and 737 be the 3rd
Limited block.
Embodiment
The present invention is described in further detail with reference to the accompanying drawings and detailed description.
As shown in figure 1, a kind of Scroll handler of the present invention is used to load and unload Scroll 6, the Scroll dress
Handler includes organic frame 1, is arranged on the axle tow-armed robot of space four in frame 1, is arranged on multiple work in frame 1
Position, and it is arranged on the dismounting position 2 and position 3 to be installed of the side of frame 1.In the present embodiment, the working position is two, respectively first
The working position 5 of working position 4 and second, first working position 4 on the second working position 5 with that can drive Scroll 6 to work respectively.
As shown in Fig. 2 the axle tow-armed robot of space four includes two manipulators 7 being symmetricly set in frame 1, institute
Stating manipulator 7 includes being arranged on first mechanical arm component 71 in frame 1, drive connection on first mechanical arm component 71 the
Two robot assemblies 72, and the claw 73 being fixedly installed on second mechanical arm component 72.The first mechanical arm component 71 is wrapped
The first motor 711, the first reductor 712 and the first revoliving arm 713 are included, first reductor 712 is defeated with the first motor 711
Shaft is connected, and the reductor 712 of the first motor 711 and first is fixedly installed in frame 1 by flange, and described first
One end of revoliving arm 713 is connected by the first reductor 712 with the first motor 711.The second mechanical arm component 72 is wrapped
The second motor 721, the second reductor 722 and the second revoliving arm 723 are included, second reductor 722 is defeated with the second motor 721
Shaft is connected, and it is remote that the reductor 722 of the second motor 721 and second is fixedly installed on the first revoliving arm 713 by flange
From one end of the first reductor 712, second revoliving arm 723 is connected by the second reductor 722 and the transmission of the second motor 721
Connect.The motor 721 of first motor 711 and second is servomotor, lightweight with small volume, and torque is stable, and control is accurate
The advantages of.The reductor 722 of first reductor 712 and second can be by the first motor 711 and the output shaft of the second motor 721
High-speed rotation changes into the smooth rotation of the first revoliving arm 713 and the second revoliving arm 723 respectively.
As illustrated in figures 4-5, the claw 73 includes the fixed support being fixedly installed on the second revoliving arm 723, is arranged on
Driving structure and bar linkage structure on the fixed support.The fixed support includes air cylinder fixed plate 731, and is fixedly installed on
The supporting part 732 of the one end of air cylinder fixed plate 731.The air cylinder fixed plate 731 takes the shape of the letter U.As shown in fig. 6, the supporting part 732 is wrapped
Include two fixed plates 7321 be arrangeding in parallel, and the first limited block 7322 and the second limited block being arranged between two fixed plates 7321
7323, the first limited block 7322 and the second limited block 7323 are located at the relative two ends of fixed plate 7321 respectively.First limited block
7322 and second all offer in axis hole 7324, two coaxial lines of axis hole 7324, axis hole 7324 on limited block 7323 and be provided with axle
Set 7325.
The driving structure includes being fixedly installed on the cylinder 733 of the other end of air cylinder fixed plate 731, and one end passes through connection
Part is threaded in the drive rod 734 on the piston rod of cylinder 733, and the other end of the drive rod 734 runs through air cylinder fixed plate
731, sequentially pass through the axis hole 7324 on the first limited block 7322 and the second limited block 7323.The axle sleeve 7325 is set in driving
On bar 734, the transverse shifting of drive rod 734 is prevented.It is appreciated that the cylinder 733 can also be hydraulic cylinder, or electric expansion is filled
Put.
The bar linkage structure includes a pair of handgrip parts 735 for being symmetricly set on the both sides of drive rod 734 and is symmetricly set on drive
A pair of connecting rods 736 of the both sides of lever 734, and the 3rd limited block 737 being fixedly installed on drive rod 734.3rd limit
Position block position 737 is between the first limited block 7322 and the second limited block 7323, and the 3rd limited block 737 mutually hangs down with drive rod 734
Directly.One end of two connecting rods 736 is respectively hinged at the two ends of the 3rd limited block 737, the other end and the handgrip part of connecting rod 736
735 end is hinged, and the 3rd limited block 737 can be supported on the first limited block 7322 or the second limited block 7323.Institute
State the part of handgrip part 735 to be arranged in supporting part 732, the handgrip part 735 is rotatably arranged in fixed plate 7321.
When the claw 73 works, by the push-and-pull drive rod 734 of cylinder 733, drive rod 734 drives the 3rd limited block 737
Moved between the first limited block 7322 and the second limited block 7323, the 3rd limited block 737 drives handgrip part by connecting rod 736
735 rotate, so as to reach the process of opening and closing claw 73；When the 3rd limited block 737 is supported on the second limited block 7323, two grab
Hand part 735 is in open mode；Drive rod 734 drives the 3rd limited block 737 to be moved to the first limited block 7322, two handgrip parts
735 start closure；When the operation of the 3rd limited block 737 is on same straight line up to two connecting rods 736, at the bar linkage structure
In dead-centre position；When the 3rd limited block 737 is supported on the first limited block 7322, two handgrip parts 735 are closed, and are picked up and are waited to take
Angle between thing, the direction that the extended line and drive rod 734 of connecting rod 736 extend to the second limited block 7323 is equal to or smaller
In 90 °, the handgrip 73 realizes self-locking；Now, if cylinder 733 runs out of steam, handgrip part 735 has in the presence of object gravity
There is the trend opened, connecting rod 736 promotes the 3rd limited block 737 to be moved toward the direction of the first limited block 7322, due to the 3rd spacing
Block 737 is supported by the first limited block 7322 so that handgrip part 735 can not open, and prevent object from dropping；Cylinder 733 recovers power
Afterwards, drive rod 734 is promoted, you can open claw 73.
A kind of Scroll handler of the present invention, during work, Scroll 6 is in the first working position 4 and the second work
Position 5 works；As shown in Figure 3, it is necessary to which when changing new Scroll 6, claw 73, two manipulators 7 are opened by the work of cylinder 733
The first motor 711 and the second motor 721 rotate, pass through the first reductor 712 and the second reductor 722 and drive the first revoliving arm
713 and second revoliving arm 723 move, so as to control claw 73 to be moved to the first working position 4；Claw 73 is closed, gripping finished product
Scroll 6, and realize self-locking；First motor 711 and the second motor 721 control claw 73 are moved to dismounting position 2, open claw
73, put down finished product Scroll 6；Claw 73 is moved to position 3 to be installed, new Scroll 6 is gripped, and is moved to the first working position 4,
New Scroll 6 is put down, so as to complete the replacing of Scroll 6 in the first working position 4；Similarly, repeat the above steps, complete second
The replacing of the Scroll 6 of working position 5, so as to complete whole Renewal process.
A kind of Scroll handler of the present invention, realizes claw 73 by motor, reductor and revoliving arm and exists
Moved between multiple working positions, be that Scroll 6 on multiple working positions can be achieved using a set of axle tow-armed robot of space four
Replacing, simple in construction, control accuracy is high, greatly reduces complete machine cost；Claw 73 utilizes the dead point position of the bar linkage structure
Put, the motion of drive rod 734 and connecting rod 736 is limited by the first limited block 7322 so that claw 73 is after crawl Scroll 6
Self-locking, handgrip part 735 does not unclamp after cylinder 733 runs out of steam, and prevents object from dropping, it is ensured that the stable progress of production.
It will be apparent to those skilled in the art that technical scheme that can be as described above and design, make other various
It is corresponding to change and deformation, and all these change and deformation should all belong to the protection domain of the claims in the present invention
Within.
Claims (8)
1. a kind of axle tow-armed robot of space four, it is characterised in that：Including symmetrically arranged two manipulators (7), the machinery
Hand (7) includes first mechanical arm component (71), and be connected the second mechanical arm component on first mechanical arm component (71)
(72), and the claw (73) that is fixedly installed on second mechanical arm component (72), the first mechanical arm component (71) includes the
One motor (711), the first reductor (712) and the first revoliving arm (713), first reductor (712) and the first motor
(711) output shaft drive connection, first revoliving arm (713) is passed by the first reductor (712) and the first motor (711)
Dynamic connection, the second mechanical arm component (72) includes the second motor (721), the second reductor (722) and the second revoliving arm
(723), the output shaft of second reductor (722) and the second motor (721) is connected, second motor (721) and
Second reductor (722) is fixedly installed on the first revoliving arm (713), and second revoliving arm (723) passes through the second reductor
(722) it is connected with the second motor (721).
2. the axle tow-armed robot of a kind of space four according to claim 1, it is characterised in that：First motor (711)
And second motor (721) be servomotor.
3. the axle tow-armed robot of a kind of space four according to claim 1, it is characterised in that：The claw (73) includes solid
Surely the fixed support on the second revoliving arm (723), the drive mechanism being arranged on the fixed support and linkage are arranged on,
The fixed support includes supporting part (732), and the supporting part (732) includes fixed plate (7321), and is arranged on fixed plate
(7321) the first limited block (7322) and the second limited block (7323) on, the drive mechanism include cylinder (733) and driving
Bar (734), the cylinder (733) is arranged on the fixed support, described drive rod (734) one end and the work of cylinder (733)
Stopper rod is connected, and the other end sequentially passes through the first limited block (7322) and the second limited block (7323), and the linkage includes grabbing
Hand part (735) and connecting rod (736), the handgrip part (735) are rotatably arranged in fixed plate (7321), the connecting rod
(736) end of one end and handgrip part (735) is hinged, and the other end is hinged on the first limited block (7322) and the second limited block
(7323) on the drive rod (734) between, when handgrip part (735) is in closure state, connecting rod (736) and drive rod
(734) hinged place is supported on the first limited block (7322) or the second limited block (7323), the extension of the connecting rod (736)
Line, with opening the angle between handgrip part (735) drive rod (734) direction to be run less than or equal to 90 °.
4. the axle tow-armed robot of a kind of space four according to claim 3, it is characterised in that：The linkage also includes
3rd limited block (737), the 3rd limited block (73) is fixedly installed on the first limited block (7322) and the second limited block
(7323) on the drive rod (734) between, one end and the end of handgrip part (735) of the connecting rod (736) are hinged, the other end
It is hinged with the 3rd limited block (737).
5. a kind of cutting machine according to claim 3, it is characterised in that：First limited block (7322) and second spacing
Offer axis hole (7324) on block (7323), two axis hole (7324) coaxial lines, drive rod (734) by axis hole (7324) according to
It is secondary through being arranged on the first limited block (7322) and the second limited block (7323).
6. the axle tow-armed robot of a kind of space four according to claim 3, it is characterised in that：The fixed support also includes
The air cylinder fixed plate (731) of supporting part (732) one end is fixedly installed on, the cylinder (733) is fixedly installed on air cylinder fixed plate
(731) on.
7. a kind of Scroll handler, it is characterised in that：It is double including the axle of space four described in the claims any one of 1-6
Arm robot.
8. a kind of Scroll handler according to claim 7, it is characterised in that：Also include organic frame (1), be arranged on
Multiple working positions in frame (1), and it is arranged on the dismounting position (2) and position to be installed (3), first motor of frame (1) side
(711) it is fixedly installed on the first reductor (712) in frame (1), two manipulators (7) can capture Scroll (6),
And it is moved to dismounting position (2), on position to be installed (3) or each working position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710280984.7A CN107030677A (en) | 2017-04-26 | 2017-04-26 | A kind of the axle tow-armed robot of space four and its Scroll handler |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710280984.7A CN107030677A (en) | 2017-04-26 | 2017-04-26 | A kind of the axle tow-armed robot of space four and its Scroll handler |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107030677A true CN107030677A (en) | 2017-08-11 |
Family
ID=59535841
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710280984.7A Pending CN107030677A (en) | 2017-04-26 | 2017-04-26 | A kind of the axle tow-armed robot of space four and its Scroll handler |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107030677A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112390060A (en) * | 2020-11-24 | 2021-02-23 | 山东日发纺织机械有限公司 | Weaving equipment |
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| CN205097189U (en) * | 2015-10-23 | 2016-03-23 | 深圳市海目星激光科技有限公司 | Tongs with self -locking function |
| CN106239549A (en) * | 2016-08-30 | 2016-12-21 | 上海大学 | A kind of full-automatic mechanical hands handgrip |
| CN207326969U (en) * | 2017-04-26 | 2018-05-08 | 常州永盛新材料装备股份有限公司 | A kind of four axis tow-armed robot of space and its Scroll handler |
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2017
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Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014024690A1 (en) * | 2012-08-09 | 2014-02-13 | 日本電産サンキョー株式会社 | Industrial robot |
| CN204036462U (en) * | 2014-08-18 | 2014-12-24 | 青岛宝佳自动化设备有限公司 | A kind of stack robot manipulator |
| CN104369191A (en) * | 2014-10-29 | 2015-02-25 | 北京卫星环境工程研究所 | Mechanical hand used for automatic single-point leakage detection |
| CN204382296U (en) * | 2015-01-12 | 2015-06-10 | 温州乐控节能科技有限公司 | A kind of mechanical arm |
| CN104742116A (en) * | 2015-02-10 | 2015-07-01 | 赵言正 | Novel five-degree-of-freedom robot mechanism |
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| CN205097189U (en) * | 2015-10-23 | 2016-03-23 | 深圳市海目星激光科技有限公司 | Tongs with self -locking function |
| CN106239549A (en) * | 2016-08-30 | 2016-12-21 | 上海大学 | A kind of full-automatic mechanical hands handgrip |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112390060A (en) * | 2020-11-24 | 2021-02-23 | 山东日发纺织机械有限公司 | Weaving equipment |
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