CN107225560A - A kind of Intelligent rotary arm manipulator of multiple site punching loading and unloading electrical Location control - Google Patents
A kind of Intelligent rotary arm manipulator of multiple site punching loading and unloading electrical Location control Download PDFInfo
- Publication number
- CN107225560A CN107225560A CN201710386636.8A CN201710386636A CN107225560A CN 107225560 A CN107225560 A CN 107225560A CN 201710386636 A CN201710386636 A CN 201710386636A CN 107225560 A CN107225560 A CN 107225560A
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- Prior art keywords
- motor
- gear
- arm
- switch
- fixedly connected
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of Intelligent rotary arm manipulator of multiple site punching loading and unloading electrical Location control, including base, the upper end of the base is welded with support column, first switch is disposed with the support column, second switch and the 3rd switch, the upper end of the support column is fixedly connected with whirling arm rig, the upper end of the whirling arm rig is fixedly connected with telescopic boom device, the right-hand member of the retractor device is fixedly connected with lifting arm unit, the whirling arm rig includes fixing axle, turning arm, casing, spacing ring, worm gear, worm screw, shaft coupling and the first motor, turning arm is socketed with the fixing axle, the upper end of the turning arm is fixedly connected with casing.This kind of Intelligent rotary arm manipulator, can easily control the rotation of turning arm, flexibly convenient；Telescopic can be realized using telescopic boom device, broadened the scope of work；Height can be adjusted using lifting arm unit, lifting is realized in feeding process.
Description
Technical field
The present invention relates to intelligent machine arm technical field, specially a kind of multiple site punching loading and unloading electrical Location control
Intelligent rotary arm manipulator.
Background technology
In manufacturing, there are various production lines, many operation links are all the duplication of labour, not only make workman
Fatigue is easily produced, and it is less efficient, and many manufacturing enterprises face labor cost and improved constantly and labor shortage
Dual challenge, promote the production link of the increasing Entry Firm of industrial robot, general industrial robot price is held high
It is expensive, it is complicated.
Existing, feeding mechanical arm is during feeding, and flexibility is poor, and working range is smaller, and height often without
Method is adjusted, and there is certain limitation.
The content of the invention
It is an object of the invention to provide a kind of Intelligent rotary arm manipulator of multiple site punching loading and unloading electrical Location control,
To solve the problems mentioned in the above background technology.
To achieve the above object, the present invention provides following technical scheme：A kind of multiple site punching loading and unloading electrical Location control
The Intelligent rotary arm manipulator of system, including base, the upper end of the base, which is welded with support column, the support column, to be disposed with
First switch, second switch and the 3rd switch, the upper end of the support column are fixedly connected with whirling arm rig, the turning arm dress
The upper end put is fixedly connected with telescopic boom device, and the right-hand member of the telescopic boom device is fixedly connected with lifting arm unit, the rotation
Boom device is included in fixing axle, turning arm, casing, spacing ring, worm gear, worm screw, shaft coupling and the first motor, the fixing axle
Turning arm is socketed with, the upper end of the turning arm, which is fixedly connected with casing, the fixing axle, is socketed restraining position ring block, described spacing
The upper surface of the lower end in contact turning arm of ring, the upper end fixed cover of the fixing axle is connected to worm gear, the right-hand member engagement of the worm gear
There is worm screw, the worm screw is fixedly connected on the end of the first motor by shaft coupling, and the lower end of first motor passes through screw
The upper end of turning arm is installed on, the telescopic boom device includes supporting plate, the second motor, first gear, second gear, screw thread
Bar, limit screw cap, deck, slide bar, roller and support bar, the upper end of the supporting plate are fixedly connected with the second motor, described
The left end fixed cover of two motors is connected to first gear, and the lower end of the first gear is engaged with second gear, the second gear
Internal thread is provided with, the second gear is socketed with threaded rod, and the left end of the threaded rod is provided with limit screw cap by screw thread,
The threaded rod is limited in the groove of deck, and the deck is fixed on the left end of supporting plate, the right side of the threaded rod by screw
End is welded with slide bar, and the lower end of the slide bar is provided with roller by pin, and the right-hand member of the slide bar is welded with support bar, described
Lifting arm unit includes housing, the 3rd motor, the 3rd gear and rack, and the inside of the housing is fixedly connected with the 3rd motor,
The shaft end fixed cover of 3rd motor is connected to the 3rd gear, and the 3rd gear is engaged with rack.
It is preferred that, it is provided with chute in the turning arm.
It is preferred that, first motor is connected in series with first switch by wire with external power supply.
It is preferred that, second motor is connected in series with second switch by wire with external power supply.
It is preferred that, the 3rd motor is connected in series with the 3rd switch by wire with external power supply.
Compared with prior art, the beneficial effects of the invention are as follows：The invention feeding mechanical arm uses whirling arm rig, can
Easily the rotation of control turning arm, flexibly convenient；Telescopic can be realized using telescopic boom device, broadened the scope of work；Adopt
Height can be adjusted with lifting arm unit, lifting is realized in feeding process.
Brief description of the drawings
Fig. 1 is whole for a kind of Intelligent rotary arm manipulator of multiple site punching loading and unloading electrical Location control of the present invention
Body structural representation；
Fig. 2 is whole for a kind of Intelligent rotary arm manipulator of multiple site punching loading and unloading electrical Location control of the present invention
Body structure top view.
Division mark is as follows in accompanying drawing：1st, base, 2, support column, 3, first switch, 4, second switch, the 5, the 3rd switch,
6th, whirling arm rig, 61, fixing axle, 62, turning arm, 63, casing, 64, spacing ring, 65, worm gear, 66, worm screw, 67, shaft coupling,
68th, the first motor, 69, chute, 7, telescopic boom device, 71, supporting plate, the 72, second motor, 73, first gear, the 74, second tooth
Wheel, 75, threaded rod, 76, limit screw cap, 77, deck, 78, slide bar, 79, roller, 710, support bar, 8, lifting arm unit, 81,
Housing, the 82, the 3rd motor, the 83, the 3rd gear, 84, rack.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
In the description of the invention, it is to be understood that term " longitudinal direction ", " transverse direction ", " on ", " under ", "front", "rear",
The orientation or position relationship of the instruction such as "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " is based on accompanying drawing institutes
The orientation or position relationship shown, is for only for ease of the description present invention, rather than indicate or imply that the device or element of meaning must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
Fig. 1-2 is referred to, the present invention provides a kind of technical scheme：A kind of multiple site punching loading and unloading electrical Location control
Intelligent rotary arm manipulator, including base 1, the upper end of base 1, which is welded with support column 2, support column 2, is disposed with first switch
3rd, the switch of second switch 4 and the 3rd 5, first switch 3, the switch of second switch 4 and the 3rd 5 are forward-reverse switch, switch model
For HY2-15, the upper end of support column 2 is fixedly connected with whirling arm rig 6, whirling arm rig include fixing axle 61, turning arm 62,
Turning arm 62 is socketed with casing 63, spacing ring 64, worm gear 65, worm screw 66, the motor 68 of shaft coupling 67 and first, fixing axle 61,
Turning arm 62 can be rotated around fixing axle 61, and chute 69 is provided with turning arm 62, and chute 69 is that roller 79 provides moving track,
The upper end of turning arm 62 is fixedly connected with socket restraining position ring block 64 in casing 63, fixing axle 61, the lower end in contact rotation of spacing ring 64
The upper surface of pivoted arm 62, spacing ring 64 prevents turning arm 62 from moving axially, and the upper end fixed cover of fixing axle 61 is connected to worm gear
65, the right-hand member of worm gear 65 is engaged with worm screw 66, and worm screw 66 is relatively rotated with worm gear 65, and worm screw 66 is fixed by shaft coupling 67
It is connected to the end of the first motor 68, the model SPC of shaft coupling 67, the model YVF132M-4 poles of the first motor 68, moment of torsion
Greatly, performance is high, and the first motor 68 is connected in series with first switch 3 by wire with external power supply, and the lower end of the first motor 68 leads to
The upper end that screw is installed on turning arm 62 is crossed, starts the rotating forward switch of first switch 3, the first motor 68 is rotated, and drives worm screw 66
Rotate, because worm gear 65 is fixed, therefore worm screw 66 rotates around worm gear 65, drive turning arm 62 rotate, whirling arm rig 6 it is upper
End is fixedly connected with telescopic boom device 7, and telescopic boom device includes supporting plate 71, the second motor 72, first gear 73, second gear
74th, threaded rod 75, limit screw cap 76, deck 77, slide bar 78, roller 79 and support bar 710, the upper end of supporting plate 71 is fixedly connected
Have the second motor 72, the model YVF132M-4 poles of the second motor 72, the second motor 72 and second switch 4 by wire with it is outer
Connect power sources in series connection, the left end fixed cover of the second motor 72 is connected to first gear 73, the lower end of first gear 73 is engaged with the
Two gears 74, second gear 74 is provided with internal thread, and second gear 74 is socketed with threaded rod 75, and threaded rod 75 can be with the second tooth
The internal thread of wheel 74 produces threading action, so as to relatively move, the left end of threaded rod 75 installs limited location spiral shell by screw thread
Cap 76, limit screw cap 76 prevents threaded rod 75 from coming off, and threaded rod 75 is limited in the groove of deck 77, and deck 77 is fixed by screw
In the left end of supporting plate 71, the right-hand member of threaded rod 75 is welded with slide bar 78, and slide bar 78 can be moved horizontally, and the lower end of slide bar 78 leads to
Cross pin and roller 79 is installed, roller 79 can be moved in chute 69, the right-hand member of slide bar 78 is welded with support bar 710, start
The rotating forward switch of second switch 4, the second motor 72 is rotated, and first gear 73 is rotated, and drives second gear 74 to rotate, second gear
With threaded rod 75 threading action occurs for 74 internal thread, and because second gear 74 is limited, therefore threaded rod 75 moves right, and drives
Slide bar 78 moves right, and roller 79 moves right in chute 69, and support bar 710 moves right, and starts the reversion of second switch 4
Switch, support bar 710 is moved to the left, and realizes Telescopic, the right-hand member of telescopic boom device 7 is fixedly connected with lifting arm unit 8, is risen
Dropping arm assembly 8 includes housing 81, the 3rd motor 82, the 3rd gear 83 and rack 84, and the inside of housing 81 is fixedly connected with the 3rd
Motor 82, the model YVF132M-4 poles of the 3rd motor 72, the 3rd motor 82 and the 3rd switch 5 pass through wire and external power supply
It is connected in series, the shaft end fixed cover of the 3rd motor 82 is connected to the 3rd gear 83, the 3rd gear 83 is engaged with rack 84, starts the
The rotating forward switch of three switches 5, the 3rd motor 82 is rotated, and band carry-over bar 84 is moved up, and starts the reversal switch of the 3rd switch 5,
3rd motor 82 is rotated, and band carry-over bar 84 is moved down, and realizes elevating function.
The present invention is in the specific implementation：When mechanical arm need to be rotated in feeding, start the rotating forward switch of first switch 3, the
One motor 68 is rotated, and drives worm screw 66 to rotate, because worm gear 65 is fixed, therefore worm screw 66 rotates around worm gear 65, drives rotation
Arm 62 is rotated；When needing to move horizontally, start the rotating forward switch of second switch 4, the second motor 72 is rotated, 73 turns of first gear
It is dynamic, drive second gear 74 to rotate, threading action occurs for internal thread and the threaded rod 75 of second gear 74, due to second gear 74
It is limited, therefore threaded rod 75 moves right, band moving slide-bar 78 moves right, and roller 79 moves right in chute 69, support bar
710 are moved right, and start the reversal switch of second switch 4, and support bar 710 is moved to the left, and realizes Telescopic；When need lifting
When, start the rotating forward switch of the 3rd switch 5, the 3rd motor 82 is rotated, and band carry-over bar 84 is moved up, and starts the 3rd switch 5
Reversal switch, the 3rd motor 82 is rotated, and band carry-over bar 84 is moved down, and realizes elevating function.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (5)
1. a kind of Intelligent rotary arm manipulator of multiple site punching loading and unloading electrical Location control, including base (1), its feature exist
In：The upper end of the base (1) is welded with support column (2), the support column (2) and is disposed with first switch (3), second
(4) and the 3rd switch (5) are switched, the upper end of the support column (2) is fixedly connected with whirling arm rig (6), the turning arm dress
The upper end for putting (6) is fixedly connected with telescopic boom device (7), and the right-hand member of the telescopic boom device (7) is fixedly connected with lifting arm dress
Put (8), the whirling arm rig includes fixing axle (61), turning arm (62), casing (63), spacing ring (64), worm gear (65), snail
Turning arm (62) is socketed with bar (66), shaft coupling (67) and the first motor (68), the fixing axle (61)；
The upper end of the turning arm (62), which is fixedly connected with casing (63), the fixing axle (61), is socketed restraining position ring block (64),
The upper surface of the lower end in contact turning arm (62) of the spacing ring (64), the upper end fixed cover of the fixing axle (61) is connected to worm gear
(65), the right-hand member of the worm gear (65) is engaged with worm screw (66), and the worm screw (66) is fixedly connected on by shaft coupling (67)
The end of one motor (68), the lower end of first motor (68) is installed on the upper end of turning arm (62) by screw, described to stretch
Contracting arm assembly (7) include supporting plate (71), the second motor (72), first gear (73), second gear (74), threaded rod (75),
Limit screw cap (76), deck (77), slide bar (78), roller (79) and support bar (710), the upper end of the supporting plate (71) are fixed
The second motor (72) is connected with, the left end fixed cover of second motor (72) is connected to first gear (73), the first gear
(73) lower end is engaged with second gear (74), and the second gear (74) is provided with internal thread, second gear (74) set
It is connected to threaded rod (75)；
The left end of the threaded rod (75) is provided with limit screw cap (76) by screw thread, and the threaded rod (75) is limited in deck
(77) in groove, the deck (77) is fixed on the left end of supporting plate (71), the right-hand member weldering of the threaded rod (75) by screw
Slide bar (78) is connected to, the lower end of the slide bar (78) is provided with roller (79), the right-hand member welding of the slide bar (78) by pin
There is support bar (710), the lifting arm unit (8) includes housing (81), the 3rd motor (82), the 3rd gear (83) and rack
(84), the inside of the housing (81) is fixedly connected with the 3rd motor (82), the shaft end fixed cover of the 3rd motor (82)
The 3rd gear (83) is connected to, the 3rd gear (83) is engaged with rack (84).
2. a kind of Intelligent rotary arm manipulator of multiple site punching loading and unloading electrical Location control according to claim 1, its
It is characterised by：Chute (69) is provided with the turning arm (62).
3. a kind of Intelligent rotary arm manipulator of multiple site punching loading and unloading electrical Location control according to claim 1, its
It is characterised by：First motor (68) is connected in series with first switch (3) by wire with external power supply.
4. a kind of Intelligent rotary arm manipulator of multiple site punching loading and unloading electrical Location control according to claim 1, its
It is characterised by：Second motor (72) is connected in series with second switch (4) by wire with external power supply.
5. a kind of Intelligent rotary arm manipulator of multiple site punching loading and unloading electrical Location control according to claim 1, its
It is characterised by：3rd motor (82) is connected in series with the 3rd switch (5) by wire with external power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710386636.8A CN107225560B (en) | 2017-05-26 | 2017-05-26 | A kind of Intelligent rotary arm manipulator of multiple site punching loading and unloading electrical Location control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710386636.8A CN107225560B (en) | 2017-05-26 | 2017-05-26 | A kind of Intelligent rotary arm manipulator of multiple site punching loading and unloading electrical Location control |
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| Publication Number | Publication Date |
|---|---|
| CN107225560A true CN107225560A (en) | 2017-10-03 |
| CN107225560B CN107225560B (en) | 2018-05-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710386636.8A Active CN107225560B (en) | 2017-05-26 | 2017-05-26 | A kind of Intelligent rotary arm manipulator of multiple site punching loading and unloading electrical Location control |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108682576A (en) * | 2018-05-25 | 2018-10-19 | 吴江远洋电气有限责任公司 | A kind of on-load voltage regulating switch suspended and fixed device |
| CN111151621A (en) * | 2020-01-19 | 2020-05-15 | 大同新成新材料股份有限公司 | Rapid flanging machine for intelligent carbon sliding plate bracket and flanging method thereof |
| CN112171127A (en) * | 2020-09-01 | 2021-01-05 | 合肥常青机械股份有限公司 | Control device for robot welding operation and use method thereof |
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| US4024959A (en) * | 1973-11-09 | 1977-05-24 | Hans Gruner | Mechanical handling apparatus |
| CN103658433A (en) * | 2013-11-25 | 2014-03-26 | 冯华仁 | Punching manipulator |
| CN104438922A (en) * | 2014-10-29 | 2015-03-25 | 合肥泰禾光电科技股份有限公司 | Punching machine intelligent feeding-cropping mechanical arm |
| CN104440898A (en) * | 2013-09-13 | 2015-03-25 | 范克健 | Intelligent robot capable of high-speed feeding and discharging |
| CN206795824U (en) * | 2017-05-26 | 2017-12-26 | 清远初曲智能科技有限公司 | A kind of Intelligent rotary arm manipulator of multiple site punching loading and unloading electrical Location control |
-
2017
- 2017-05-26 CN CN201710386636.8A patent/CN107225560B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4024959A (en) * | 1973-11-09 | 1977-05-24 | Hans Gruner | Mechanical handling apparatus |
| CN104440898A (en) * | 2013-09-13 | 2015-03-25 | 范克健 | Intelligent robot capable of high-speed feeding and discharging |
| CN103658433A (en) * | 2013-11-25 | 2014-03-26 | 冯华仁 | Punching manipulator |
| CN104438922A (en) * | 2014-10-29 | 2015-03-25 | 合肥泰禾光电科技股份有限公司 | Punching machine intelligent feeding-cropping mechanical arm |
| CN206795824U (en) * | 2017-05-26 | 2017-12-26 | 清远初曲智能科技有限公司 | A kind of Intelligent rotary arm manipulator of multiple site punching loading and unloading electrical Location control |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108682576A (en) * | 2018-05-25 | 2018-10-19 | 吴江远洋电气有限责任公司 | A kind of on-load voltage regulating switch suspended and fixed device |
| CN111151621A (en) * | 2020-01-19 | 2020-05-15 | 大同新成新材料股份有限公司 | Rapid flanging machine for intelligent carbon sliding plate bracket and flanging method thereof |
| CN112171127A (en) * | 2020-09-01 | 2021-01-05 | 合肥常青机械股份有限公司 | Control device for robot welding operation and use method thereof |
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| Publication number | Publication date |
|---|---|
| CN107225560B (en) | 2018-05-11 |
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Effective date of registration: 20210412 Address after: 214000 Qianqiao Yangxi village, Huishan District, Wuxi City, Jiangsu Province Patentee after: Wuxi Qianqiao Textile Machinery Equipment Co.,Ltd. Address before: 511500 Tian'an Zhigu Exhibition Service Center 159, No. 18 Chuangxing Avenue, Science and Technology Innovation Park, Qingyuan High-tech Industrial Development Zone, Guangdong Province Patentee before: QINGYUAN CHUQU INTELLIGENT TECHNOLOGY Co.,Ltd. |