CN107186534B - Feeding robot - Google Patents
Feeding robot Download PDFInfo
- Publication number
- CN107186534B CN107186534B CN201710560570.XA CN201710560570A CN107186534B CN 107186534 B CN107186534 B CN 107186534B CN 201710560570 A CN201710560570 A CN 201710560570A CN 107186534 B CN107186534 B CN 107186534B
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- CN
- China
- Prior art keywords
- mechanical
- fixedly connected
- cam
- arm
- rotating shaft
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
-
- 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
- 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
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- 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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of feeding robots, it includes mechanical pedestal, fixed pin shaft, supporting device, mechanical arm, swing mechanism, cam mechanism and clamping device, and mechanical arm includes mechanical large arm and mechanical forearm, and mechanical large arm and mechanical forearm are hinged；The swing mechanism includes rotating shaft, swiveling gear, revolution bracket, and the rotating shaft is matched with the rotary hole in mechanical pedestal, and described rotating shaft one end is fixedly connected with swiveling gear, and revolution bracket is fixedly connected with rotating shaft；The cam mechanism includes transmission gear, cam drive axis, cylindrical cam, follower and guide rail, the transmission gear is fixedly connected with cam drive axis, the other end of the cam drive axis is fixedly connected with cylindrical cam, one end of the follower is matched with the sliding slot in cylindrical cam, the present invention provides a kind of feeding robot, it can be realized automation feeding, improve feeding efficiency and processing quality, guarantee safety in production.
Description
Technical field
The present invention relates to a kind of feeding robots, belong to field of mechanical technique.
Background technique
Currently, in the field of machining, the production and processing of product needs multiple working procedure, in the case where entering from a procedure
During one procedure, all kinds of transmitting devices is needed to be conveyed, how labor and materials to be fast and accurately transported on station is
The key for improving working efficiency, guaranteeing processing quality and safety in production.So far there are also the productions that some enterprises use artificial feeding
Manufacture, artificial feeding efficiency is low, product quality is unreliable and at high cost.
Summary of the invention
The technical problems to be solved by the present invention are: overcoming the deficiencies of the prior art and provide a kind of feeding robot, its energy
It is enough to realize automation feeding, feeding efficiency and processing quality are improved, guarantees safety in production.
In order to solve the above-mentioned technical problem, the technical scheme is that a kind of feeding robot, it includes
Mechanical pedestal；
Fixed pin shaft；
Supporting device；
Mechanical arm, including mechanical large arm and mechanical forearm, mechanical large arm and mechanical forearm are hinged；
Swing mechanism, the swing mechanism include rotating shaft, swiveling gear, turn round bracket, the rotating shaft and mechanical bottom
Rotary hole on seat matches, and described rotating shaft one end is fixedly connected with swiveling gear, and revolution bracket is fixedly connected with rotating shaft；
Cam mechanism, the cam mechanism include transmission gear, cam drive axis, cylindrical cam, follower and guide rail,
The transmission gear is fixedly connected with cam drive axis, and the other end of the cam drive axis is fixedly connected with cylindrical cam, institute
The one end for stating follower is matched with the sliding slot in cylindrical cam, and the other end is hinged with mechanical large arm, and follower edge is led
Rail pumps；
Clamping device, the clamping device are fixedly connected with the end of mechanical forearm.
Further, the supporting device includes mechanical arm supporting arm and cam mechanism supporting arm, the mechanical arm supporting arm
One end is fixedly connected with revolution bracket, and the other end is fixedly connected with fixed pin shaft.
Further, cam mechanism supporting arm one end is fixedly connected with revolution bracket, and the other end is fixedly connected with guide rail.
Further, the middle part of the mechanical forearm and fixed pin shaft are hinged.
Using above-mentioned technical proposal, power is transferred to swiveling gear by gear drive by external motor by the present invention,
Swiveling gear drives rotating shaft around axial-movement, and then revolution bracket is driven to do rotary motion, realizes feeding robot in level
The movement in direction；Another external motor provides power by transmission gear for cam drive axis, and cylindrical cam is driven to do revolution fortune
It is dynamic, so that follower is pumped along guide rail, under the action of mechanical large arm and mechanical forearm, realizes on clamping device
Lower movement, the up and down motion of feeding robot feeding is completed with this, to realize automation feeding, improves feeding efficiency,
Processing quality is guaranteed, the possible security risk of artificial feeding is avoided, and guarantees safety in production.
Detailed description of the invention
Fig. 1 is the overall structure diagram of feeding robot of the invention；
Fig. 2 is the structural schematic diagram of cam mechanism of the invention；
Fig. 3 is the left view of Fig. 1；
Fig. 4 is the structural schematic diagram of mechanical pedestal of the invention.
In figure, 1, mechanical pedestal, 2, transmission gear, 3, cylindrical cam, 4, guide rail, 5, mechanical large arm, 6, movable pin shaft, 7,
Mechanical forearm, 8, fixed pin shaft, 9, clamping device, 10, mechanical arm supporting arm, 11, cam drive axis, 13, follower, 14,
Turn round bracket, 15, bolt, 16, rotating shaft, 17, cam mechanism supporting arm, 18, swiveling gear.
Specific embodiment
In order that the present invention can be more clearly and readily understood, right below according to specific embodiment and in conjunction with attached drawing
The present invention is described in further detail.
As shown in figures 1-4, a kind of feeding robot, it includes
Mechanical pedestal 1；
Fixed pin shaft 8；
Supporting device；
Mechanical arm, including mechanical large arm 5 and mechanical forearm 7, mechanical large arm 5 and mechanical forearm 7 pass through movable 6 phase of pin shaft
Hingedly；
Swing mechanism, the swing mechanism include rotating shaft 16, swiveling gear 18, revolution bracket 14, the rotating shaft 16
It is matched with the rotary hole in mechanical pedestal 1, described 16 one end of rotating shaft is fixedly connected with swiveling gear 18, and revolution bracket 14 is logical
It crosses bolt 15 to be fixedly connected with rotating shaft 16, swiveling gear 18 is driven by external motor, rotating shaft 16 is driven to return around mechanical pedestal 1
The rotation of turn hole axis；
Cam mechanism, the cam mechanism include transmission gear 2, cam drive axis 11, cylindrical cam 3, follower 13
With guide rail 4, the transmission gear 2 is fixedly connected with cam drive axis 11, does revolution fortune by external motor driving transmission gear 2
Dynamic, the other end of the cam drive axis 11 is fixedly connected with cylindrical cam 3, one end of the follower 13 and cylindrical cam
Sliding slot in 3 matches, and the other end is hinged with mechanical large arm 5, and follower 13 pumps along guide rail 4；
Clamping device 9, the clamping device 9 are fixedly connected with the end of mechanical forearm 7.
As shown in Figure 1, the supporting device includes mechanical arm supporting arm 10 and cam mechanism supporting arm 17, the mechanical arm
10 one end of supporting arm is fixedly connected with revolution bracket 14, and the other end is fixedly connected with fixed pin shaft 8.
As shown in Figure 1, described 17 one end of cam mechanism supporting arm is fixedly connected with revolution bracket 14, the other end and guide rail 4
It is fixedly connected.
As shown in Figure 1, the middle part of the machinery forearm 7 and fixed pin shaft 8 are hinged, can be turned round around 8 axis of fixed pin shaft
Movement.
Working principle of the present invention is as follows:
Power is transferred to by swiveling gear 18 by gear drive by external motor, swiveling gear 18 and rotating shaft 16 are fixed
Connection drives rotating shaft 16 around axial-movement, and the revolution bracket 14 being connected by bolt 15 with rotating shaft 16 does rotary motion,
Realize the movement in the horizontal direction of feeding robot；Another external motor is provided by transmission gear 2 for cam drive axis 11 dynamic
Power drives cylindrical cam 3 to do rotary motion, and 13 one end of follower is done up and down along 3 runner movement of cylindrical cam, one end along guide rail 4
It moves back and forth, 13 one end of follower and mechanical large arm 5 are hinged, when follower 13 moves upwards, in mechanical large arm 5 and machine
Under the action of tool forearm 7, realize that clamping device 9 moves downward, when follower 13 moves downward, in mechanical large arm 5 and machine
Under the action of tool forearm 7, realizes that clamping device 9 moves upwards, the up and down motion of feeding robot feeding is completed with this.
Particular embodiments described above, pair present invention solves the technical problem that, technical scheme and beneficial effects carry out
It is further described, it should be understood that the above is only a specific embodiment of the present invention, is not limited to this
Invention, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in this hair
Within bright protection scope.
Claims (2)
1. a kind of feeding robot, it is characterised in that: it includes
Mechanical pedestal (1)；
Fixed pin shaft (8)；
Supporting device；
Mechanical arm, including mechanical large arm (5) and mechanical forearm (7), mechanical large arm (5) and mechanical forearm (7) are hinged；
Swing mechanism, the swing mechanism include rotating shaft (16), swiveling gear (18), revolution bracket (14), the rotating shaft
(16) it is matched with the rotary hole on mechanical pedestal (1), described rotating shaft (16) one end is fixedly connected with swiveling gear (18), is returned
The frame (14) that asks is fixedly connected with rotating shaft (16)；
Cam mechanism, the cam mechanism include transmission gear (2), cam drive axis (11), cylindrical cam (3), follower
(13) be fixedly connected with guide rail (4), the transmission gear (2) with cam drive axis (11), the cam drive axis (11) it is another
One end is fixedly connected with cylindrical cam (3), and one end of the follower (13) is matched with the sliding slot in cylindrical cam (3),
The other end is hinged with mechanical large arm (5), and follower (13) pumps along guide rail (4)；
Clamping device (9), the clamping device (9) are fixedly connected with the end of mechanical forearm (7)；
The supporting device includes mechanical arm supporting arm (10) and cam mechanism supporting arm (17), the mechanical arm supporting arm (10)
One end is fixedly connected with revolution bracket (14), and the other end is fixedly connected with fixed pin shaft (8)；
The middle part and fixed pin shaft (8) of the machinery forearm (7) are hinged.
2. feeding robot according to claim 1, it is characterised in that: described cam mechanism supporting arm (17) one end with return
The frame (14) that asks is fixedly connected, and the other end is fixedly connected with guide rail (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710560570.XA CN107186534B (en) | 2017-07-11 | 2017-07-11 | Feeding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710560570.XA CN107186534B (en) | 2017-07-11 | 2017-07-11 | Feeding robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107186534A CN107186534A (en) | 2017-09-22 |
| CN107186534B true CN107186534B (en) | 2018-12-18 |
Family
ID=59881997
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710560570.XA Active CN107186534B (en) | 2017-07-11 | 2017-07-11 | Feeding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107186534B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109225587A (en) * | 2018-09-03 | 2019-01-18 | 深圳市烽焌信息科技有限公司 | Grinding machine for Chinese herb medicines device people |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000216B (en) * | 2017-12-17 | 2020-11-17 | 诸暨市枫桥天竺五金油漆店 | Automatic machine tool for pause-and-pause type machining |
| CN110091149B (en) * | 2018-01-27 | 2021-02-26 | 鸿富锦精密电子（成都）有限公司 | Rubber plug pulling device |
| CN109879044B (en) * | 2019-03-14 | 2023-09-19 | 三峡大学 | Continuous intermittent rotary lifting working arm mechanism and use method thereof |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09309088A (en) * | 1996-05-23 | 1997-12-02 | Tokin Corp | Work grasping transferring device |
| RU2348846C1 (en) * | 2007-06-08 | 2009-03-10 | Государственное учреждение Всероссийский научно-исследовательский институт птицеперерабатывающей промышленности (ГУ ВНИИПП) | Camshaft spatial mechanism |
| CN103273483A (en) * | 2013-05-10 | 2013-09-04 | 三峡大学 | Cam mechanical arm with adjustable stroke |
| CN103273478A (en) * | 2013-05-31 | 2013-09-04 | 安徽省巢湖铸造厂有限责任公司 | Feed manipulator of spring bars former |
| CN105538092A (en) * | 2015-12-11 | 2016-05-04 | 东莞市富利环保有限公司 | Automatic polishing and grinding robot |
| CN205572406U (en) * | 2016-03-19 | 2016-09-14 | 王喜燕 | Novel pay -off machine people |
| CN205572425U (en) * | 2016-04-19 | 2016-09-14 | 陕西科技大学 | Cylindrical cam formula step drive type manipulator |
| CN106393082A (en) * | 2016-11-25 | 2017-02-15 | 江门市神川自动化设备有限公司 | Automatic feeding manipulator device |
-
2017
- 2017-07-11 CN CN201710560570.XA patent/CN107186534B/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109225587A (en) * | 2018-09-03 | 2019-01-18 | 深圳市烽焌信息科技有限公司 | Grinding machine for Chinese herb medicines device people |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107186534A (en) | 2017-09-22 |
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