CN107053149A - A kind of mechanical arm configuration of automatic transport recrater - Google Patents
A kind of mechanical arm configuration of automatic transport recrater Download PDFInfo
- Publication number
- CN107053149A CN107053149A CN201710227816.1A CN201710227816A CN107053149A CN 107053149 A CN107053149 A CN 107053149A CN 201710227816 A CN201710227816 A CN 201710227816A CN 107053149 A CN107053149 A CN 107053149A
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- CN
- China
- Prior art keywords
- arm
- roller
- motor
- straight skidding
- horizontal sliding
- Prior art date
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
-
- 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
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0625—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with a valve
- B25J15/0633—Air-flow-actuated valves
-
- 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
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of mechanical arm configuration of automatic transport recrater, its drip irrigation device is to include horizontal sliding arm, straight skidding arm and manipulator, and actuating unit, horizontal sliding arm on straight skidding arm with being provided with slipping mechanism, horizontal sliding arm is provided at both ends with the first roller and the second roller, actuating unit includes the first motor and the second motor, transmission belt is arranged with outside first roller and the second roller, transmission belt two ends are fixedly installed on one end of straight skidding arm, the other end of straight skidding arm is provided with the 3rd roller, transmission belt bypasses first successively, 3rd and second roller and keep tensioning；Manipulator laterally moves linearly when first motor and the second motor are operated at the same speed in the same direction, and manipulator longitudinally moves linearly when the first motor and the second motor are inversely operated at the same speed, manipulator inclination movement when the first motor and the second motor friction speed in the same direction or the operating of reverse friction speed.It is easy to mechanical arm material of being taken from conveyer belt to move quickly into again in packing case.
Description
Technical field
The present invention relates to boxing apparatus technical field, more specifically, it relates to a kind of machinery of automatic transport recrater
Arm configuration.
Background technology
Mechanical arm is the automated machine device that most broad practice is obtained in robot technical field, in industry system
Make, therapeutic treatment, entertainment service, military affairs, the field such as semiconductor manufacturing and space probation can see its figure.Although it
Form have nothing in common with each other, but they have one it is common the characteristics of, can exactly receive instruction, be precisely positioned to three-dimensional
The certain point of (or two dimension) spatially carries out operation.
Current mechanical arm, which is applied on conveying recrater, to be mainly used in material being put into packing case, and it is mainly included
Frame, manipulator, conveyor track, detent mechanism, manipulator are used to material is clamped or is in place, and conveyor track is mainly and played
Horizontal and vertical makes manipulator realize movement, and detent mechanism is to ensure that manipulator can reach accurate position in motion process
Put.Because the application of existing machinery arm at least needs the movement of both direction, i.e., by the longitudinal direction that material is lifted or is put down, and
The transverse direction of horizontal direction movement, therefore at least need two actuating units to realize horizontal, longitudinal direction on conveyor track for manipulator
Movement.It is that sliding is realized on conveyor track by cylinder control machinery hand in the application of existing conveying recrater, in the structure
After only one of which cylinder moves into place manipulator, another cylinder, which can just start, controls manipulator to another side
To movement, for example when material is put into packing case, the movement locus of manipulator is straightforward, substantially n fonts, therefore
The boxing efficiency of material is slow, has much room for improvement.
The content of the invention
In view of the deficienciess of the prior art, it is an object of the invention to provide a kind of mechanical arm of automatic transport recrater
Structure, the mechanical arm can effectively improve boxing efficiency.
To achieve the above object, the invention provides following technical scheme：A kind of mechanical arm knot of automatic transport recrater
Structure, includes horizontal sliding arm, straight skidding arm and manipulator, and the actuating unit moved for driving mechanical hand, described
Manipulator is arranged on the lower end of straight skidding arm, and horizontal sliding arm and straight skidding the arm square crossing is set, the transverse direction
Sliding arm enables straight skidding arm on horizontal sliding arm with being provided with slipping mechanism on straight skidding arm by slipping mechanism
Transverse and longitudinal slides, and the two ends of the horizontal sliding arm are rotated respectively is provided with the first roller and the second roller, the actuating unit
Include the first motor and the second motor, first motor drives the first roller to rotate, second motor drives second to roll
Wheel is rotated, and is arranged with transmission belt outside first roller and the second roller, the transmission belt two ends are fixedly installed on straight skidding
One end of arm, the straight skidding arm is provided with the 3rd roller away from one end that transmission belt is fixed, and the transmission belt is bypassed successively
First roller, the 3rd roller and the second roller simultaneously keep tensioning；When first motor and the second motor are operated at the same speed in the same direction
Manipulator laterally moves linearly, and manipulator longitudinally moves linearly when first motor and the second motor are inversely operated at the same speed, institute
Manipulator inclination movement when stating the first motor and the second motor friction speed in the same direction or the operating of reverse friction speed.
The present invention is further arranged to：It is provided with and is bypassed for transmission belt on the horizontal sliding arm and/or straight skidding arm
Driven pulley, the driven pulley by transmission belt bypass after the first roller, the 3rd roller and the second roller strengthen transmission belt bag
Wrap up in angle.
The present invention is further arranged to：The slipping mechanism includes installing plate and slide rail, and the slide rail is provided with two groups,
And it is separately positioned on horizontal sliding arm and straight skidding arm, the slide rail is set along its length respectively, it is described to install
Plate sliding is arranged on horizontal sliding arm and straight skidding arm, is provided with the installing plate and is supplied horizontal sliding arm and longitudinal direction respectively
Sliding installing plate in the chute of the slide rail insertion on arm, slide rail insertion chute can slide along the length direction of slide rail.
The present invention is further arranged to：It is provided with the installing plate for realizing the sliding block that sliding is connected, institute with slide rail
State chute to be arranged on sliding block, be provided with its cross section of the sliding block of chute in concave shape structure setting, the sliding block is away from chute
One side be fixedly connected with installing plate.
The present invention is further arranged to：The driven pulley is rotatably connected on installing plate, and the driven pulley is provided with four
And respectively close to the intersection of horizontal sliding arm and straight skidding arm, order bypasses the transmission belt of driven pulley close to horizontal sliding arm
With straight skidding arm.
The present invention is further arranged to：The horizontal sliding arm is provided with the shifting chute run through for straight skidding arm, described
The length direction that shifting chute transversely slides arm is set, and the straight skidding arm is located in shifting chute and can be along shifting chute
Length direction slides；Slide rail on the horizontal sliding arm is provided with two, and is separately positioned on opposite two in shifting chute
On the wall of side, the installing plate is arranged between the slide rail on the slide rail on horizontal sliding arm and straight skidding arm, described laterally sliding
Slide rail in displacement arm is embedded into the superolateral chute of installing plate, and the slide rail on the straight skidding arm is embedded on installing plate interior
In the chute of side；The running orbit that the transmission belt bypasses the first roller, the 3rd roller and the second roller is in same plane
On.
The present invention is further arranged to：First roller, the second roller and the 3rd roller are external gear, the biography
The medial surface of dynamic band is provided with the engaging groove for being meshed with external gear.
The present invention is further arranged to：The manipulator includes the mounting seat for being connected with straight skidding arm, described
The bottom surface of mounting seat is provided with available for the sucker for picking and placeing article.
The present invention is further arranged to：The sucker is provided with for strengthening the absorbing cylinder of suction, the side of the absorbing cylinder
Wall is reciprocally bending to be set in ripple struction.
The present invention is further arranged to：The mounting seat is provided with the venting channels being conducted in sucker, and the ventilation is led to
Road one end is conducted in sucker, and the other end is provided with the connector for connecting tracheae, and tracheae connection aspiration pump is used for sucker
Interior formation negative pressure.
In summary, the invention has the advantages that：Manipulator under the regulation and control of the first motor and the second motor not
Linear motion laterally or longitudinally can be only realized, while the stroke that can make manipulator is arc or inclined linear motion
Track, so that the time required during material movement is advantageously reduced, so as to be conducive to improving the boxing efficiency of material.It is easy to machinery
Arm material of being taken from conveyer belt is moved quickly into packing case again.
Brief description of the drawings
Fig. 1 is the front view of mechanical arm；
Fig. 2 is the side view of mechanical arm；
Fig. 3 is A portions mplifying structure schematic diagram in Fig. 2；
Fig. 4 is the top view of mechanical arm；
Fig. 5 is the cross-sectional view of manipulator；
Fig. 6 is the dimensional structure diagram of manipulator.
Reference：1st, horizontal sliding arm；11st, the first roller；12nd, the second roller；13rd, shifting chute；2nd, straight skidding arm；
21st, the 3rd roller；3rd, manipulator；31st, mounting seat；311st, venting channels；32nd, sucker；321st, absorbing cylinder；4th, actuating unit；41、
First motor；42nd, the second motor；5th, slipping mechanism；51st, installing plate；52nd, slide rail；53rd, sliding block；531st, chute；6th, transmission belt；
61st, driven pulley；71st, the first stroke；72nd, the second stroke；73rd, third trip；74th, fourth line journey.
Embodiment
With reference to the accompanying drawings and examples, the present invention is described in more detail.Wherein identical parts identical
Reference is represented.It should be noted that the word "front", "rear", "left", "right", the "up" and "down" that are used below in description
The direction in accompanying drawing is referred to, word " bottom surface " and " top surface ", " interior " and " outer " are referred respectively to towards or away from particular elements
The direction of geometric center.
Shown in reference picture 1-6, a kind of mechanical arm configuration of automatic transport recrater includes horizontal sliding arm 1, longitudinal direction and slided
Displacement arm 2 and manipulator 3, and the actuating unit 4 moved for driving mechanical hand 3, manipulator 3 are arranged on straight skidding arm 2
Lower end, horizontal sliding arm 1 and the square crossing of straight skidding arm 2 are set, and horizontal sliding arm 1 on straight skidding arm 2 with being provided with cunning
Telephone-moving structure 5, enables the transverse and longitudinal on horizontal sliding arm 1 of straight skidding arm 2 to slide by slipping mechanism 5, horizontal sliding arm 1
Two ends are rotated respectively is provided with the first roller 11 and the second roller 12, and actuating unit 4 includes the first motor 41 and the second motor
42, the first motor 41 drives the first roller 11 to rotate, and the second motor 42 drives the second roller 12 to rotate, the first roller 11 and second
Transmission belt 6 is arranged with outside roller 12, the two ends of transmission belt 6 are fixedly installed on one end of straight skidding arm 2, and straight skidding arm 2 is remote
One end that transmission belt 6 is fixed is provided with the 3rd roller 21, and transmission belt 6 bypasses the first roller 11, the 3rd roller 21 and the successively
Second wheel 12 simultaneously keeps tensioning；The laterally rectilinear movement of manipulator 3 when first motor 41 and the second motor 42 are operated at the same speed in the same direction, the
The rectilinear movement of the longitudinal direction of manipulator 3, the first motor 41 and the second motor 42 when one motor 41 and the second 42 reverse synchronized operating of motor
The inclination movement of manipulator 3 when friction speed in the same direction or the operating of reverse friction speed.
Shown in reference picture 1, the first roller 11 to horizontal sliding arm 1 is handed over straight skidding arm 2 in mechanical arm running
Distance at remittance is the first stroke 71, and the distance of the second roller 12 to horizontal sliding arm 1 and the intersection of straight skidding arm 2 is second
Stroke 72, the distance of top to horizontal sliding arm 1 and the intersection of straight skidding arm 2 of straight skidding arm 2 is third trip 73, is indulged
It is fourth line journey 74 to the distance of the bottom of sliding arm 2 to horizontal sliding arm 1 and the intersection of straight skidding arm 2.
The laterally rectilinear movement of manipulator 3 when the first motor 41 and the second 42 synchronized operating in the same direction of motor：Such as first electricity
The operating clockwise of the motor 42 of machine 41 and second, when rotating speed is consistent, second stroke 72 can shorten while the first stroke 71 is elongated,
And third trip 73 and fourth line journey 74 keep constant, therefore manipulator 3 laterally moves linearly to the right.
The longitudinal direction of manipulator 3 rectilinear movement when the first motor 41 and the second 42 reverse synchronized operating of motor：Such as first electricity
Machine 41 is operated clockwise, the second operating counterclockwise of motor 42, and when rotating speed is consistent, the first stroke 71 and the second stroke 72 are kept not
Become, and third trip 73 it is elongated while fourth line journey 74 can shorten, therefore manipulator 3 moves linearly longitudinally upward.
The inclination movement of manipulator 3 when the first motor 41 and the second 42 friction speed operating in the same direction of motor：Such as the first motor 41
With the operating clockwise of the second motor 42, when the rotating speed of the first motor 41 is more than the rotating speed of the second motor 42, the first stroke 71 with
Fourth line journey 74 is gradually shortening, and the second stroke 72 and third trip 73 are progressively longer, therefore manipulator 3 is to moving to left
Moved up while dynamic, so that the inclination movement of manipulator 3.
The inclination movement of manipulator 3 when the first motor 41 and the second 42 reverse friction speed operating of motor：Such as the first motor 41
Operating clockwise, the second operating counterclockwise of motor 42, when the rotating speed of the first motor 41 is more than the rotating speed of the second motor 42, the first row
Journey 71 is gradually shortening with third trip 73, and the second stroke 72 and fourth line journey 74 are progressively longer, therefore manipulator 3 exists
Moved down while being moved to the left, so that the inclination movement of manipulator 3.
In summary, manipulator 3 can not only be realized horizontal or vertical under the regulation and control of the first motor 41 and the second motor 42
To linear motion, while the stroke that can make manipulator 3 is arc or inclined straight-line trajectory, so as to be conducive to drop
Required time during low material movement, so as to be conducive to improving the boxing efficiency of material.It is easy to mechanical arm to be taken from conveyer belt
Material is moved quickly into packing case again.
The driven pulley 61 bypassed for transmission belt 6 is provided with horizontal sliding arm 1 and/or straight skidding arm 2, driven pulley 61 will
Transmission belt 6, which is bypassed, strengthens the wrap angle of transmission belt 6 after the first roller 11, the 3rd roller 21 and the second roller 12.Transmission belt 6
Bypass and contact area between transmission belt 6 and each roller is added after driven pulley 61, so as to be conducive to avoiding roller from driving transmission
Occur skidding during band 6, effectively improve the stability of power transmission.In addition also further transmission belt 6 is drawn in, it is to avoid transmission
Band 6 is touched and caused the accident in the process of running.
Slipping mechanism 5 includes installing plate 51 and slide rail 52, and slide rail 52 is provided with two groups, and is separately positioned on horizontal cunning
In displacement arm 1 and straight skidding arm 2, slide rail 52 is set along its length respectively, and the sliding of installing plate 51 is arranged on horizontal sliding arm 1
On straight skidding arm 2, it is provided with and is embedded in respectively for the slide rail 52 on horizontal sliding arm 1 and straight skidding arm 2 on installing plate 51
Chute 531, slide rail 52 insertion chute 531 in installing plate 51 can along slide rail 52 length direction slide.Straight skidding arm 2 can root
It is embedded into according to the slide rail 52 being arranged on straight skidding arm 2 in chute 531, enables straight skidding arm 2 suitable on installing plate 51
Smooth sliding, and installing plate 51 can be embedded into chute 531 according to the slide rail 52 being arranged on horizontal sliding arm 1, make installing plate
51 can the smooth sliding on horizontal sliding arm 1, the structure is easy to implement sliding relatively for horizontal sliding arm 1 and straight skidding arm 2
Move.
It is provided with installing plate 51 for realizing the sliding block 53 that sliding is connected with slide rail 52, chute 531 is arranged on sliding block 53
On, its cross section of the sliding block 53 of chute 531 is provided with concave shape structure setting, one side of the sliding block 53 away from chute 531 and peace
Dress plate 51 is fixedly connected.Sliding block 53 can be fixedly installed on installing plate 51 by screw, and be provided with the one of chute 531 and faced
Laterally, slide rail 52 is facilitated to be embedded into chute 531, the structure advantageously reduces the integral thickness of installing plate 51, without direct
Slotted on installing plate 51, advantageously reduce material cost and processing cost；And the sliding block 53 being connected with a slide rail 52
Two can be provided with, not only effectively strengthens the stable connection effect of slide rail 52 and sliding block 53, while sliding block 53 can also be avoided
Swing is produced on slide rail 52.
Driven pulley 61 is rotatably connected on installing plate 51, and driven pulley 61 is provided with four and respectively close to horizontal sliding arm
1 bypasses the transmission belt 6 of driven pulley 61 close to horizontal sliding arm 1 and straight skidding arm 2 with the intersection of straight skidding arm 2, order.Enter
One step simplifies the set-up mode of driven pulley 61, although driven pulley 61 can be set respectively in the both sides of each roller, so that bypassing
The transmission belt 6 of driven pulley 61 can increase the wrap angle of pair roller, but the setting of which needs 6 driven pulleys 61, therefore
Driven pulley 61 is provided with four and respectively close to the intersection of horizontal sliding arm 1 and straight skidding arm 2, can not only be played
The effect of the same increase pair roller wrap angle of transmission belt 6, while the quantity of driven pulley 61 is reduced, and set-up mode
Without additional structure, production cost is advantageously reduced.
Horizontal sliding arm 1 is provided with the shifting chute 13 run through for straight skidding arm 2, and shifting chute 13 transversely slides arm 1
Length direction is set, and straight skidding arm 2 is located in shifting chute 13 and can slid along the length direction of shifting chute 13；It is laterally sliding
Slide rail 52 in displacement arm 1 is provided with two, and is separately positioned on two side opposite in shifting chute 13, and installing plate 51 is set
Between the slide rail 52 on slide rail 52 and straight skidding arm 2 on horizontal sliding arm 1, the slide rail 52 on horizontal sliding arm 1 is embedded in
Into the superolateral chute 531 of installing plate 51, the slide rail 52 on straight skidding arm 2 is embedded into the chute of inner side on installing plate 51
In 531；The running orbit that transmission belt 6 bypasses the first roller 11, the 3rd roller 21 and the second roller 12 is in the same plane.
Horizontal sliding arm 1 is not only arranged in a mutually vertical manner with straight skidding arm 2, while straight skidding arm 2 is run through out of horizontal sliding arm 1
Set, the running orbit of transmission belt 6 is on same plane, so as to avoid the distortion of transmission belt 6 and influence transmission
Stability.
First roller 11, the second roller 12 and the 3rd roller 21 are external gear, and the medial surface of transmission belt 6 is provided with use
In the engaging groove being meshed with external gear.By external gear and the engaged transmission of transmission belt 6, it is prevented effectively from roller and drives transmission belt 6
When there is skidding, be conducive to improve transmission belt 6 operating degree of stability.
Manipulator 3 includes the mounting seat 31 for being connected with straight skidding arm 2, and the bottom surface of mounting seat 31 is provided with available
In the sucker 32 for picking and placeing article.It is broken to material generation in absorbing material that manipulator 3 takes thing to be prevented effectively from by sucker 32
It is bad.
Sucker 32 is provided with for strengthening the absorbing cylinder 321 of suction, and the reciprocally bending side wall of absorbing cylinder 321 is in ripple struction
Set.Absorbing cylinder 321 adds the internal capacity of sucker 32, therefore will greatly strengthen after the air emptying in absorbing cylinder 321
Sucker 32 adsorbs absorption affinity during material, therefore absorbing cylinder 321 is conducive to strengthening absorption affinity when sucker 32 adsorbs material, it is to avoid
Material drops in moving process.
Mounting seat 31 is provided with the venting channels 311 being conducted in sucker 32, and the one end of venting channels 311 is conducted to sucker 32
Interior, the other end is provided with the connector for connecting tracheae, and tracheae connection aspiration pump is used to that negative pressure will to be formed in sucker 32.Pumping
The venting channels 311 for being communicated to sucker 32 are respectively formed negative pressure by pump by tracheae, and the mode of operation quickly and conveniently, and is led to
Manipulator 3 takes thing more stable when crossing the pumping of aspiration pump.
It the above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical schemes belonged under thinking of the present invention belong to protection scope of the present invention.It should be pointed out that for the art
For those of ordinary skill, some improvements and modifications without departing from the principles of the present invention, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of mechanical arm configuration of automatic transport recrater, includes horizontal sliding arm (1), straight skidding arm (2) and machinery
Hand (3), and the actuating unit (4) mobile for driving mechanical hand (3), the manipulator (3) are arranged on straight skidding arm (2)
Lower end, the horizontal sliding arm (1) and straight skidding arm (2) square crossing set, and the horizontal sliding arm (1) is sliding with longitudinal direction
Slipping mechanism (5) is provided with displacement arm (2), makes straight skidding arm (2) can be in horizontal sliding arm (1) by slipping mechanism (5)
Upper transverse and longitudinal sliding, it is characterized in that：The two ends of the horizontal sliding arm (1) are rotated respectively is provided with the first roller (11) and second
Roller (12), the actuating unit (4) includes the first motor (41) and the second motor (42), and first motor (41) drives
First roller (11) is rotated, and second motor (42) drives the second roller (12) to rotate, first roller (11) and second
Transmission belt (6) is arranged with outside roller (12), transmission belt (6) two ends are fixedly installed on one end of straight skidding arm (2), described
Straight skidding arm (2) is provided with the 3rd roller (21) away from the fixed one end of transmission belt (6), and the transmission belt (6) bypasses successively
First roller (11), the 3rd roller (21) and the second roller (12) simultaneously keep tensioning；First motor (41) and the second electricity
Manipulator (3) laterally moves linearly when machine (42) is operated at the same speed in the same direction, and first motor (41) and the second motor (42) are reverse
Manipulator (3) longitudinally moves linearly during synchronized operating, first motor (41) and the second motor (42) friction speed in the same direction or reverse
Manipulator (3) inclination movement when friction speed is operated.
2. a kind of mechanical arm configuration of automatic transport recrater according to claim 1, it is characterized in that：The horizontal sliding
The driven pulley (61) bypassed for transmission belt (6) is provided with arm (1) and/or straight skidding arm (2), the driven pulley (61) will pass
Dynamic band (6) bypasses the first roller (11), the 3rd roller (21) and the second roller (12) strengthens the parcel angle of transmission belt (6) afterwards
Degree.
3. a kind of mechanical arm configuration of automatic transport recrater according to claim 2, it is characterized in that：The slipping mechanism
(5) installing plate (51) and slide rail (52) are included, the slide rail (52) is provided with two groups, and is separately positioned on horizontal sliding arm
(1) and on straight skidding arm (2), the slide rail (52) is set along its length respectively, and installing plate (51) sliding is set
On horizontal sliding arm (1) and straight skidding arm (2), be provided with the installing plate (51) respectively for horizontal sliding arm (1) and
The chute (531) of slide rail (52) insertion on straight skidding arm (2), embedded chute (531) the interior installing plate (51) of slide rail (52) can
Slid along the length direction of slide rail (52).
4. a kind of mechanical arm configuration of automatic transport recrater according to claim 3, it is characterized in that：The installing plate
(51) it is provided with for realizing the sliding block (53) that sliding is connected with slide rail (52), the chute (531) is arranged on sliding block (53)
On, sliding block (53) of chute (531) its cross section is provided with concave shape structure setting, and the sliding block (53) is away from chute
(531) one side is fixedly connected with installing plate (51).
5. a kind of mechanical arm configuration of automatic transport recrater according to claim 3, it is characterized in that：The driven pulley
(61) it is rotatably connected on installing plate (51), the driven pulley (61) is provided with four and respectively close to horizontal sliding arm (1)
With the intersection of straight skidding arm (2), the transmission belt (6) that order bypasses driven pulley (61) is sliding close to horizontal sliding arm (1) and longitudinal direction
Displacement arm (2).
6. a kind of mechanical arm configuration of automatic transport recrater according to claim 4, it is characterized in that：The horizontal sliding
Arm (1) is provided with the shifting chute (13) run through for straight skidding arm (2), and the shifting chute (13) transversely slides the length of arm (1)
Spend direction to set, the straight skidding arm (2) is located in shifting chute (13) and can slided along the length direction of shifting chute (13)
Move；Slide rail (52) on the horizontal sliding arm (1) is provided with two, and is separately positioned on opposite two in shifting chute (13)
On the wall of side, the installing plate (51) is arranged on the slide rail (52) on horizontal sliding arm (1) and the slide rail on straight skidding arm (2)
(52) between, the slide rail (52) on the horizontal sliding arm (1) is embedded into installing plate (51) superolateral chute (531), institute
The slide rail (52) on straight skidding arm (2) is stated to be embedded on installing plate (51) in the chute (531) of inner side；The transmission belt (6)
The running orbit for bypassing the first roller (11), the 3rd roller (21) and the second roller (12) is in the same plane.
7. a kind of mechanical arm configuration of automatic transport recrater according to any one in claim 1-6, it is characterized in that：
First roller (11), the second roller (12) and the 3rd roller (21) are external gear, the medial surface of the transmission belt (6)
It is provided with the engaging groove for being meshed with external gear.
8. a kind of mechanical arm configuration of automatic transport recrater according to claim 1, it is characterized in that：The manipulator
(3) mounting seat (31) for being connected with straight skidding arm (2) is included, the bottom surface of the mounting seat (31), which is provided with, can be used for
Pick and place the sucker (32) of article.
9. a kind of mechanical arm configuration of automatic transport recrater according to claim 8, it is characterized in that：The sucker (32)
The absorbing cylinder (321) for strengthening suction is provided with, the side wall of the absorbing cylinder (321) is reciprocally bending to be set in ripple struction.
10. a kind of mechanical arm configuration of automatic transport recrater according to claim 8 or claim 9, it is characterized in that：It is described to install
Seat (31) is provided with the venting channels (311) being conducted in sucker (32), and described venting channels (311) one end is conducted to sucker
(32) in, the other end is provided with the connector for connecting tracheae, and tracheae connection aspiration pump is used to form negative in sucker (32)
Pressure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710227816.1A CN107053149A (en) | 2017-04-07 | 2017-04-07 | A kind of mechanical arm configuration of automatic transport recrater |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710227816.1A CN107053149A (en) | 2017-04-07 | 2017-04-07 | A kind of mechanical arm configuration of automatic transport recrater |
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| CN107053149A true CN107053149A (en) | 2017-08-18 |
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| CN201710227816.1A Pending CN107053149A (en) | 2017-04-07 | 2017-04-07 | A kind of mechanical arm configuration of automatic transport recrater |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107789059A (en) * | 2017-09-19 | 2018-03-13 | 山东科技大学 | A kind of minimally invasive abdominal operation robot |
| CN108583991A (en) * | 2018-05-21 | 2018-09-28 | 马瑜良 | Full-automatic liquid-transfering sucker arranges machine |
| CN109411776A (en) * | 2018-08-31 | 2019-03-01 | 广州倬粤动力新能源有限公司 | The assembly method of carbon fiber battery pole plates |
| CN112678237A (en) * | 2020-12-21 | 2021-04-20 | 珠海格力智能装备有限公司 | Adhesive tape sticking mechanism |
| CN113415578A (en) * | 2021-07-13 | 2021-09-21 | 河南弗莱戈智能装备有限公司 | Cross module structure control system of wet piece of cloth production facility |
| CN114104729A (en) * | 2021-12-08 | 2022-03-01 | 东莞市金太阳精密技术有限责任公司 | Automatic pick-and-place device in machine and application |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107789059A (en) * | 2017-09-19 | 2018-03-13 | 山东科技大学 | A kind of minimally invasive abdominal operation robot |
| CN108583991A (en) * | 2018-05-21 | 2018-09-28 | 马瑜良 | Full-automatic liquid-transfering sucker arranges machine |
| CN109411776A (en) * | 2018-08-31 | 2019-03-01 | 广州倬粤动力新能源有限公司 | The assembly method of carbon fiber battery pole plates |
| CN109411776B (en) * | 2018-08-31 | 2023-06-02 | 广州倬粤动力新能源有限公司 | Assembly method of carbon fiber battery polar plate |
| CN112678237A (en) * | 2020-12-21 | 2021-04-20 | 珠海格力智能装备有限公司 | Adhesive tape sticking mechanism |
| CN113415578A (en) * | 2021-07-13 | 2021-09-21 | 河南弗莱戈智能装备有限公司 | Cross module structure control system of wet piece of cloth production facility |
| CN114104729A (en) * | 2021-12-08 | 2022-03-01 | 东莞市金太阳精密技术有限责任公司 | Automatic pick-and-place device in machine and application |
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