CN107116534A - Sheave drives high speed conveying robot - Google Patents
Sheave drives high speed conveying robot Download PDFInfo
- Publication number
- CN107116534A CN107116534A CN201710279924.3A CN201710279924A CN107116534A CN 107116534 A CN107116534 A CN 107116534A CN 201710279924 A CN201710279924 A CN 201710279924A CN 107116534 A CN107116534 A CN 107116534A
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- CN
- China
- Prior art keywords
- guide rail
- sheave
- fixed
- roller
- driving lever
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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.)
- Pending
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- 230000008878 coupling Effects 0.000 claims abstract description 6
- 238000010168 coupling process Methods 0.000 claims abstract description 6
- 238000005859 coupling reaction Methods 0.000 claims abstract description 6
- 241000531807 Psophiidae Species 0.000 claims description 12
- 230000000694 effects Effects 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 239000000463 material Substances 0.000 abstract description 7
- 238000000354 decomposition reaction Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of industry mechanical arm, more specifically to a kind of industry mechanical arm carried for material.Sheave drives high speed conveying robot, including：Support, sheave plate, motor, roller, driving lever, horizontal guide rail, cross sliding clock, upright guide rail, upright slide block, manipulator, the sheave plate is fixed on the support, the output of the motor is pivotally connected to decelerator, and the output shaft of the decelerator is connected to the drive shaft by shaft coupling；The driving lever is fixed on the drive shaft；The roller is movably connected on the sheave plate and driving lever, and the roller is fixed on the upright guide rail；The end of the upright guide rail is fixed with the manipulator.Sheave driving high speed conveying robot of the present invention is used as driving element by a servomotor, horizontally-guided is realized by horizontal guide rail, realized and be vertically directed by upright guide rail, drive manipulator to realize required movement locus by Geneva mechanism, so as to complete the crawl to material and fast removal.
Description
Technical field
The present invention relates to a kind of industry mechanical arm, more specifically to a kind of industry mechanical arm carried for material.
Background technology
Existing manipulator to realize the motion on two-dimensional directional, it is necessary to two driving elements, for example, can be two gas
Cylinder drives, or needs two servomotor drivings.
If driven by two cylinders, because row's deflation course of gas needs the cost time, then the motion of manipulator
Speed is relatively low.
If driven by two servomotors, need to configure the accurate accessory such as ball screw for each servomotor, lead
Cause cost increase.
The content of the invention
It is used to realize that the quick of material removes object of the present invention is to provide a kind of sheave driving high speed conveying robot
Fortune, in industrial automation equipment, realizing that unmanned operation, operating efficiency height, movement velocity are high；Sheave driving of the present invention is high
Fast conveying robot, as driving element, is realized horizontally-guided by horizontal guide rail, realized by upright guide rail by a servomotor
Be vertically directed, by Geneva mechanism drive manipulator realize required for movement locus, so as to complete crawl to material and fast
Speed is carried.
A kind of sheave drives high speed conveying robot, including：Support, sheave plate, motor, roller, driving lever, horizontal guide rail,
Cross sliding clock, upright guide rail, upright slide block, manipulator, the sheave plate are fixed on the support, and the output shaft of the motor connects
Decelerator is connected to, the output shaft of the decelerator is connected to the drive shaft by shaft coupling, and the drive shaft is movably connected on
The support；The driving lever is fixed on the drive shaft；The horizontal guide rail is fixed on the support, the cross sliding clock activity
The horizontal guide rail is connected to, the upright slide block is fixed on the cross sliding clock, and the upright guide rail is movably connected on described
Upright slide block；The roller is movably connected on the sheave plate and driving lever, and the roller is fixed on the upright guide rail；It is described perpendicular
The end of straight guide is fixed with the manipulator.
Preferably, the sheave plate includes：Revolver groove, institute are provided with left sheave plate, right sheave plate, the left sheave plate
State and right wheel groove is provided with right sheave plate, the revolver groove and right wheel groove are realized and be smoothly connected；It is provided with the left sheave plate
Lower convex platform is provided with convex platform, the right sheave plate, the convex platform is overlapped in the lower convex platform.
Preferably, being provided with to be provided with the transverse groove matched with the roller, the driving lever on the driving lever is used for
It is fixed on the plate connecting hole in the drive shaft.
Preferably, the manipulator includes：One trumpeter's pawl and two trumpeter's pawls.
Compared with conventional art, sheave driving high speed conveying robot of the present invention has following positive role and beneficial effect
Really：
The sheave plate is fixed on the support, and the roller is movably connected on the sheave plate, and the roller can be
Moved in the revolver groove and right wheel groove.The transverse groove matched with the roller is provided with the driving lever, the roller can
To be moved in the driving lever.
The output of the motor is pivotally connected to decelerator, and the output shaft of the decelerator is connected to the drive by shaft coupling
Moving axis, the drive shaft is movably connected on the support, and the driving lever is fixed on the drive shaft, the output of the servomotor
Moment of torsion drives the driving lever to realize and swung after the increase of the decelerator, by the drive shaft, so as to drive described
Roller is moved in the revolver groove and right wheel groove.The movement locus of the roller determines by the revolver groove and right wheel groove, institute
The movement velocity of roller is stated by the Serve Motor Control.
The horizontal guide rail is fixed on the support, and the cross sliding clock is movably connected on the horizontal guide rail, described perpendicular
Straight sliding block is fixed on the cross sliding clock, and the upright guide rail is movably connected on the upright slide block, by the horizontal guide rail
Guiding after, the upright guide rail can realize horizontal movement, after the guiding of the upright slide block, and the upright guide rail can
To realize vertical motion.Therefore, the upright guide rail can do the translation on two-dimensional directional.
The roller is fixed on the upright guide rail, and the roller drives the upright guide rail motion.The upright guide rail
Determine that the movement velocity of the upright guide rail and manipulator is by institute by the revolver groove and right wheel groove with the movement locus of manipulator
State Serve Motor Control.
The manipulator includes：One trumpeter's pawl and two trumpeter's pawls, it is possible to achieve the crawl of higher efficiency.
Sheave driving high speed conveying robot of the present invention utilizes the high-speed motion performance of the servomotor, by the groove
After the Kinematic Decomposition of wheel plate, control the manipulator to realize the motion on two-dimensional directional, the manipulator is obtained the fortune of high speed
Dynamic effect, so as to improve operating efficiency.
Brief description of the drawings
Fig. 1,2,3 are the structural representations that sheave of the present invention drives high speed conveying robot.
1 support, 2 sheave plates, 3 motors, 4 rollers, 5 driving levers, 6 horizontal guide rails, 7 cross sliding clocks, 8 upright guide rails, 9 are slided vertically
Block, 10 manipulators, 11 1 trumpeter's pawls, 12 2 trumpeter's pawls, 13 plate connecting holes, 14 transverse grooves, 15 drive shafts, 16 decelerators, 17
Axle device, 18 left sheave plates, 19 right sheave plates, 20 revolver grooves, 21 right wheel grooves, 22 lower convex platforms, 23 convex platforms.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing, but does not constitute any limitation of the invention,
Similar element numbers represent similar element in accompanying drawing.As described above, being carried at a high speed the invention provides a kind of driving of sheave
Manipulator, the fast removal for realizing material, in industrial automation equipment, realize unmanned operation, operating efficiency it is high,
Movement velocity is high；Sheave of the present invention drives high speed conveying robot by a servomotor as driving element, by horizontal guide rail
Horizontally-guided is realized, is realized and is vertically directed by upright guide rail, drives manipulator to realize required motion rail by Geneva mechanism
Mark, so as to complete the crawl to material and fast removal.
Fig. 1,2,3 are the structural representations that sheave of the present invention drives high speed conveying robot.
Sheave of the present invention drives high speed conveying robot, including：Support 1, sheave plate 2, motor 3, roller 4, driving lever 5, water
Level gauge 6, cross sliding clock 7, upright guide rail 8, upright slide block 9, manipulator 10, the sheave plate 2 are fixed on the support 1, institute
The output for stating motor 3 is pivotally connected to decelerator 16, and the output shaft of the decelerator 16 is connected to the drive shaft by shaft coupling
15, the drive shaft 15 is movably connected on the support 1；The driving lever 5 is fixed on the drive shaft 15；The horizontal guide rail 6
The support 1 is fixed on, the cross sliding clock 7 is movably connected on the horizontal guide rail 6, and the upright slide block 9 is fixed on described
Cross sliding clock 7, the upright guide rail 8 is movably connected on the upright slide block 7；The roller 4 is movably connected on the sheave plate 2
With driving lever 5, the roller 4 is fixed on the upright guide rail 8；The end of the upright guide rail 8 is fixed with the manipulator 10.
More specifically, the sheave plate 2 includes：It is provided with left sheave plate 18, right sheave plate 19, the left sheave plate 18
Right wheel groove 21 is provided with revolver groove 20, the right sheave plate 19, the revolver groove 20 and right wheel groove 21 are realized and be smoothly connected；Institute
State and convex platform 23 is provided with left sheave plate 18, lower convex platform 22 is provided with the right sheave plate 19, the convex platform 23 is overlapping
In the lower convex platform 22.
More specifically, being provided with the transverse groove 14 matched with the roller 4 on the driving lever 5, set on the driving lever 5
It is equipped with the plate connecting hole 13 for being fixed in the drive shaft 15.
More specifically, the manipulator 10 includes：One trumpeter's pawl 11 and two trumpeter's pawls 12.
Below in conjunction with Fig. 1 to 3, operation principle and the work of sheave driving high speed conveying robot of the present invention are further described
Process：
The sheave plate 2 is fixed on the support 1, and the roller 4 is movably connected on the sheave plate 2, and the roller 4 can
To be moved in the revolver groove 21 and right wheel groove 20.The transverse groove matched with the roller 4 is provided with the driving lever 5
14, the roller 4 can be moved in the driving lever 5.
The output of the motor 3 is pivotally connected to decelerator 16, and the output shaft of the decelerator 16 is connected to by shaft coupling
The drive shaft 15, the drive shaft 15 is movably connected on the support 1, and the driving lever 5 is fixed on the drive shaft 15, described
The output torque of servomotor 3 drives the driving lever 5 to realize a left side after the increase of the decelerator 16 by the drive shaft 15
It is right to swing, so as to drive the roller 4 to be moved in the revolver groove 21 and right wheel groove 20.The movement locus of the roller 4 by
The revolver groove 21 and right wheel groove 20 determine that the movement velocity of the roller 4 is controlled by the servomotor 3.
The horizontal guide rail 6 is fixed on the support 1, and the cross sliding clock 7 is movably connected on the horizontal guide rail 6, institute
State upright slide block 9 and be fixed on the cross sliding clock 7, the upright guide rail 8 is movably connected on the upright slide block 7, by described
After the guiding of horizontal guide rail, the upright guide rail 8 can realize horizontal movement, described after the guiding of the upright slide block 9
Upright guide rail 8 can realize vertical motion.Therefore, the upright guide rail 8 can do the translation on two-dimensional directional.
The roller 4 is fixed on the upright guide rail 8, and the roller 4 drives the upright guide rail 8 to move.It is described vertical
The movement locus of guide rail 8 and manipulator 10 determines by the revolver groove 21 and right wheel groove 20, the upright guide rail 8 and manipulator
10 movement velocity is controlled by the servomotor 3.
The manipulator 10 includes：One trumpeter's pawl 11 and two trumpeter's pawls 12, it is possible to achieve the crawl of higher efficiency.
Sheave driving high speed conveying robot of the present invention utilizes the high-speed motion performance of the servomotor 3, by described
After the Kinematic Decomposition of sheave plate 2, control the manipulator 10 to realize the motion on two-dimensional directional, the manipulator 10 is obtained height
The movement effects of speed, so as to improve operating efficiency.
Finally it is pointed out that above example is only that sheave driving high speed conveying robot of the present invention is more representational
Example.It is clear that the invention is not restricted to which above-described embodiment, can also there is many deformations.Every technical spirit pair according to the present invention
Any simple modification, equivalent variations and modification that above example is made, are considered as belonging to protection scope of the present invention.
Claims (3)
1. a kind of sheave drives high speed conveying robot, it is characterised in that including：Support, sheave plate, motor, roller, driving lever,
Horizontal guide rail, cross sliding clock, upright guide rail, upright slide block, manipulator, the sheave plate are fixed on the support, the motor
Output be pivotally connected to decelerator, the output shaft of the decelerator is connected to the drive shaft, the drive shaft by shaft coupling
It is movably connected on the support；The driving lever is fixed on the drive shaft；The horizontal guide rail is fixed on the support, the water
Smooth block is movably connected on the horizontal guide rail, and the upright slide block is fixed on the cross sliding clock, the upright guide rail activity
It is connected to the upright slide block；The roller is movably connected on the sheave plate and driving lever, and the roller is fixed on described vertical
Guide rail；The end of the upright guide rail is fixed with the manipulator；
The sheave plate includes：Revolver groove, the right sheave plate are provided with left sheave plate, right sheave plate, the left sheave plate
On be provided with right wheel groove, the revolver groove and right wheel groove are realized and are smoothly connected；Convex platform is provided with the left sheave plate, it is described
Lower convex platform is provided with right sheave plate, the convex platform is overlapped in the lower convex platform.
2. sheave according to claim 1 drives high speed conveying robot, it is characterised in that be provided with the driving lever and
The plate connecting hole for being fixed in the drive shaft is provided with the transverse groove that the roller matches, the driving lever.
3. sheave according to claim 1 drives high speed conveying robot, it is characterised in that the manipulator includes：One
Trumpeter's pawl and two trumpeter's pawls.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710279924.3A CN107116534A (en) | 2017-04-18 | 2017-04-18 | Sheave drives high speed conveying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710279924.3A CN107116534A (en) | 2017-04-18 | 2017-04-18 | Sheave drives high speed conveying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107116534A true CN107116534A (en) | 2017-09-01 |
Family
ID=59725732
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710279924.3A Pending CN107116534A (en) | 2017-04-18 | 2017-04-18 | Sheave drives high speed conveying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107116534A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107826753A (en) * | 2017-12-01 | 2018-03-23 | 厦门鑫泰博科技有限公司 | A kind of crawl shift unit of section of shape lug sheet metal |
| CN108298304A (en) * | 2017-12-29 | 2018-07-20 | 杭州高品自动化设备有限公司 | A kind of swing arm part |
| CN111390629A (en) * | 2020-06-08 | 2020-07-10 | 烟台工程职业技术学院(烟台市技师学院) | Feeding and discharging manipulator of numerical control milling machine |
| CN111975741A (en) * | 2020-08-18 | 2020-11-24 | 上海托展智能科技股份有限公司 | Carrying manipulator |
| CN112847582A (en) * | 2020-12-29 | 2021-05-28 | 戴毅 | Full-automatic deep processing equipment for betel nuts |
| CN114803508A (en) * | 2022-04-25 | 2022-07-29 | 浙江长兴合利光电科技有限公司 | Touch screen production equipment and processing method thereof |
| CN116423173A (en) * | 2023-04-10 | 2023-07-14 | 江苏天网光电科技有限公司 | High-efficiency automatic assembling device for miniature high-voltage generator |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102528798A (en) * | 2012-01-17 | 2012-07-04 | 邹建炀 | Novel parallel transporting mechanical arm |
| WO2016015241A1 (en) * | 2014-07-30 | 2016-02-04 | 惠州市吉瑞科技有限公司 | Material pickup apparatus and assembly apparatus |
| CN206048201U (en) * | 2016-09-30 | 2017-03-29 | 三峡大学 | A kind of adjustable two degrees of freedom catching robot |
-
2017
- 2017-04-18 CN CN201710279924.3A patent/CN107116534A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102528798A (en) * | 2012-01-17 | 2012-07-04 | 邹建炀 | Novel parallel transporting mechanical arm |
| WO2016015241A1 (en) * | 2014-07-30 | 2016-02-04 | 惠州市吉瑞科技有限公司 | Material pickup apparatus and assembly apparatus |
| CN206048201U (en) * | 2016-09-30 | 2017-03-29 | 三峡大学 | A kind of adjustable two degrees of freedom catching robot |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107826753A (en) * | 2017-12-01 | 2018-03-23 | 厦门鑫泰博科技有限公司 | A kind of crawl shift unit of section of shape lug sheet metal |
| CN107826753B (en) * | 2017-12-01 | 2023-09-26 | 厦门鑫泰博科技有限公司 | Grabbing and shifting device for segment-shaped tab metal sheets |
| CN108298304A (en) * | 2017-12-29 | 2018-07-20 | 杭州高品自动化设备有限公司 | A kind of swing arm part |
| CN111390629A (en) * | 2020-06-08 | 2020-07-10 | 烟台工程职业技术学院(烟台市技师学院) | Feeding and discharging manipulator of numerical control milling machine |
| CN111390629B (en) * | 2020-06-08 | 2020-08-28 | 烟台工程职业技术学院(烟台市技师学院) | Feeding and discharging manipulator of numerical control milling machine |
| CN111975741A (en) * | 2020-08-18 | 2020-11-24 | 上海托展智能科技股份有限公司 | Carrying manipulator |
| CN112847582A (en) * | 2020-12-29 | 2021-05-28 | 戴毅 | Full-automatic deep processing equipment for betel nuts |
| CN114803508A (en) * | 2022-04-25 | 2022-07-29 | 浙江长兴合利光电科技有限公司 | Touch screen production equipment and processing method thereof |
| CN114803508B (en) * | 2022-04-25 | 2022-11-11 | 浙江长兴合利光电科技有限公司 | Touch screen production equipment and processing method thereof |
| CN116423173A (en) * | 2023-04-10 | 2023-07-14 | 江苏天网光电科技有限公司 | High-efficiency automatic assembling device for miniature high-voltage generator |
| CN116423173B (en) * | 2023-04-10 | 2023-10-24 | 江苏天网光电科技有限公司 | High-efficiency automatic assembling device for miniature high-voltage generator |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170901 |
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