CN107225560B - 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
- CN107225560B CN107225560B CN201710386636.8A CN201710386636A CN107225560B CN 107225560 B CN107225560 B CN 107225560B CN 201710386636 A CN201710386636 A CN 201710386636A CN 107225560 B CN107225560 B CN 107225560B
- Authority
- CN
- China
- Prior art keywords
- motor
- gear
- arm
- switch
- fixedly connected
- 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.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- 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
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 end of the telescopic device is fixedly connected with lifting arm unit, the whirling arm rig includes fixing axle, rotating arm, babinet, spacing ring, worm gear, worm screw, shaft coupling and the first motor, rotating arm is socketed with the fixing axle, the upper end of the rotating arm is fixedly connected with babinet.This kind of Intelligent rotary arm manipulator, can easily control the rotation of rotating 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, is 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 worker
Easy to produce fatigue and less efficient, many enterprises that manufacture face labor cost continuous improvement and labor shortage
Dual challenge, promote the production links of the more and more Entry Firms of industrial robot, general industrial robot price is held high
It is expensive, it is complicated.
Existing, for feeding mechanical arm during feeding, flexibility is poor, and working range is smaller, and height often without
Method is adjusted, and there are certain limitation.
The content of the invention
It is an object of the invention to provide a kind of multiple site punching loading and unloading electrical Location control Intelligent rotary arm manipulator,
To solve the problems mentioned in the above background technology.
To achieve the above object, the present invention provides following technical solution：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 are welded with support column, are disposed with the support column
First switch, second switch and the 3rd switch, the upper end of the support column are fixedly connected with whirling arm rig, the rotating arm dress
The upper end put is fixedly connected with telescopic boom device, and the right end of the telescopic boom device is fixedly connected with lifting arm unit, the rotation
Boom device includes fixing axle, rotating arm, babinet, spacing ring, worm gear, worm screw, shaft coupling and the first motor, in the fixing axle
Rotating arm is socketed with, the upper end of the rotating arm is fixedly connected with babinet, restraining position ring block is socketed in the fixing axle, described spacing
The upper surface of the lower end in contact rotating arm of ring, the upper end fixing sleeve of the fixing axle are connected to worm gear, the right end 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 rotating arm is installed on, the telescopic boom device includes support plate, the second motor, first gear, second gear, screw thread
Bar, limit screw cap, deck, slide bar, roller and supporting rod, the upper end of the support plate are fixedly connected with the second motor, and described
The left end fixing sleeve 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 support 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 end of the slide bar is welded with supporting rod, 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 fixing sleeve of 3rd motor is connected to the 3rd gear, and the 3rd gear is engaged with rack.
Preferably, it is provided with sliding slot in the rotating arm.
Preferably, first motor is connected in series with first switch by conducting wire and external power supply.
Preferably, second motor is connected in series with second switch by conducting wire and external power supply.
Preferably, the 3rd motor is connected in series with the 3rd switch by conducting wire and 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
The easily rotation of control rotating arm, it is 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 a kind of the whole of the Intelligent rotary arm manipulator of multiple site punching loading and unloading electrical Location control of the present invention
Body structure diagram；
Fig. 2 is a kind of the whole of the 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 attached 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, rotating arm, 63, babinet, 64, spacing ring, 65, worm gear, 66, worm screw, 67, shaft coupling,
68th, the first motor, 69, sliding slot, 7, telescopic boom device, 71, support 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, supporting rod, 8, lifting arm unit, 81,
Housing, the 82, the 3rd motor, the 83, the 3rd gear, 84, rack.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment, belongs to the scope of protection of the invention.
In the description of the present 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 attached drawing institutes
The orientation or position relationship shown, is for only for ease of the description present invention, rather than the device or element of instruction or hint meaning must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
- 2 are please referred to Fig.1, the present invention provides a kind of technical solution：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 are welded with support column 2, first switch are disposed with support column 2
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, rotating arm 62,
Babinet 63, spacing ring 64, worm gear 65, worm screw 66,67 and first motor 68 of shaft coupling, are socketed with rotating arm 62 in fixing axle 61,
Rotating arm 62 can be rotated around fixing axle 61, and sliding slot 69 is provided with rotating arm 62, and sliding slot 69 provides moving track for roller 79,
The upper end of rotating arm 62 is fixedly connected with babinet 63, and restraining position ring block 64, the lower end in contact rotation of spacing ring 64 are socketed in fixing axle 61
The upper surface of pivoted arm 62, spacing ring 64 prevent rotating arm 62 from moving axially, and the upper end fixing sleeve of fixing axle 61 is connected to worm gear
65, the right end of worm gear 65 is engaged with worm screw 66, and worm screw 66 relatively rotates 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 conducting wire and external power supply, and the lower end of the first motor 68 leads to
The upper end that screw is installed on rotating arm 62 is crossed, starts the rotating forward switch of first switch 3, the first motor 68 rotates, and drives worm screw 66
Rotate, since worm gear 65 is fixed, therefore worm screw 66 rotates around worm gear 65, drive rotating arm 62 rotate, whirling arm rig 6 it is upper
End is fixedly connected with telescopic boom device 7, and telescopic boom device includes support 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 supporting rod 710, the upper end of support plate 71 are fixedly connected
There is the second motor 72, the model YVF132M-4 poles of the second motor 72, the second motor 72 and second switch 4 are by conducting wire and outside
Connect power supply to be connected in series, the left end fixing sleeve of the second motor 72 is connected to first gear 73, and the lower end of first gear 73 is engaged with
Two gears 74, second gear 74 are 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 is provided with spacing spiral shell by screw thread
Cap 76, limit screw cap 76 prevent 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 support plate 71, the right end of threaded rod 75 is welded with slide bar 78, and slide bar 78 can move horizontally, and the lower end of slide bar 78 leads to
Cross pin and roller 79 is installed, roller 79 can move in sliding slot 69, and the right end of slide bar 78 is welded with supporting rod 710, start
The rotating forward switch of second switch 4, the second motor 72 rotate, and first gear 73 rotates, and drives second gear 74 to rotate, second gear
With threaded rod 75 threading action occurs for 74 internal thread, and since second gear 74 is limited, therefore threaded rod 75 moves right, and drives
Slide bar 78 moves right, and roller 79 moves right in sliding slot 69, and supporting rod 710 moves right, and starts the reversion of second switch 4
Switch, supporting rod 710 are moved to the left, and realize Telescopic, and the right end of telescopic boom device 7 is fixedly connected with lifting arm unit 8, are risen
Drop 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 conducting wire and external power supply
It is connected in series, the shaft end fixing sleeve of the 3rd motor 82 is connected to the 3rd gear 83, and the 3rd gear 83 is engaged with rack 84, starts the
The rotating forward switch of three switches 5, the 3rd motor 82 rotate, and band carry-over bar 84 moves up, and start the reversal switch of the 3rd switch 5,
3rd motor 82 rotates, and band carry-over bar 84 moves down, and realizes elevating function.
The present invention is in the specific implementation：When mechanical arm need to rotate in feeding, start the rotating forward switch of first switch 3, the
One motor 68 rotates, and drives worm screw 66 to rotate, and since worm gear 65 is fixed, therefore worm screw 66 rotates around worm gear 65, drives rotation
Arm 62 rotates；When needing to move horizontally, start the rotating forward switch of second switch 4, the second motor 72 rotates, 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 sliding slot 69, supporting rod
710 move right, and start the reversal switch of second switch 4, and supporting rod 710 is moved to the left, and realizes Telescopic；When needing to lift
When, the rotating forward for starting the 3rd switch 5 switchs, and the 3rd motor 82 rotates, and band carry-over bar 84 moves up, and starts the 3rd switch 5
Reversal switch, the 3rd motor 82 rotate, and band carry-over bar 84 moves 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
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of changes, modification, replace
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), and first switch (3), second are disposed with the support column (2)
(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 rotating arm dress
The upper end for putting (6) is fixedly connected with telescopic boom device (7), and the right end of the telescopic boom device (7) is fixedly connected with lifting arm dress
Put (8), the whirling arm rig includes fixing axle (61), rotating arm (62), babinet (63), spacing ring (64), worm gear (65), snail
Bar (66), shaft coupling (67) and the first motor (68), are socketed with rotating arm (62) on the fixing axle (61)；
The upper end of the rotating arm (62) is fixedly connected with babinet (63), and restraining position ring block (64) is socketed on the fixing axle (61),
The upper surface of the lower end in contact rotating arm (62) of the spacing ring (64), the upper end fixing sleeve of the fixing axle (61) are connected to worm gear
(65), the right end 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 rotating arm (62) by screw, described to stretch
Contracting arm assembly (7) include support 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 supporting rod (710), the upper end of the support plate (71) are fixed
The second motor (72) is connected with, the left end fixing sleeve 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 support plate (71), the right end 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 end welding of the slide bar (78) by pin
There is supporting rod (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 fixing sleeve 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 characterized in that：Sliding slot (69) is provided with the rotating 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 characterized in that：First motor (68) is connected in series with first switch (3) by conducting wire and 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 characterized in that：Second motor (72) is connected in series with second switch (4) by conducting wire and 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 characterized in that：3rd motor (82) is connected in series with the 3rd switch (5) by conducting wire and 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107225560A CN107225560A (en) | 2017-10-03 |
| CN107225560B true CN107225560B (en) | 2018-05-11 |
Family
ID=59934097
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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 |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107225560B (en) |
Families Citing this family (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 |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN104440898A (en) * | 2013-09-13 | 2015-03-25 | 范克健 | Intelligent robot capable of high-speed feeding and discharging |
| 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 |
-
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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107225560A (en) | 2017-10-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102601783B (en) | Intelligent manipulator device capable of automatically placing glass fiber strand barrel | |
| CN107225560B (en) | A kind of Intelligent rotary arm manipulator of multiple site punching loading and unloading electrical Location control | |
| CN203831396U (en) | Mechanical arm device | |
| CN206869350U (en) | A kind of spot welding device that can arbitrarily adjust soldering angle | |
| CN203765631U (en) | Gear combined motion manipulator | |
| CN107225557A (en) | A kind of architectural engineering is with multi-function operation machine people | |
| CN104552239A (en) | Four-axis transplanting manipulator | |
| CN104526692B (en) | Full-automatic numerical control mechanical arm | |
| CN211427712U (en) | Real device of instructing of automatic unloading of industrial robot | |
| CN208132956U (en) | A kind of hydraulic machinery arm for logistics handling lorry | |
| CN206795824U (en) | A kind of Intelligent rotary arm manipulator of multiple site punching loading and unloading electrical Location control | |
| CN109371582A (en) | A kind of PPS base fabric crimping needle sewing device | |
| CN108745739A (en) | A kind of miniature parts paint spraying mechanical arm equipment | |
| CN208895427U (en) | Crossbeam processes automatic welding machine people after a kind of | |
| CN209887577U (en) | Movable robot based on machine vision | |
| CN209143606U (en) | A kind of piler for automatic stereowarehouse | |
| CN207521623U (en) | It is a kind of can automatic charging self-tapping screw thread rolling machine | |
| CN102698914B (en) | Automatic spray gun regulation frame | |
| CN214686548U (en) | Multi freedom unloading manipulator | |
| CN213439756U (en) | Industrial robot's flexible arm | |
| CN108083167A (en) | A kind of autonomous driving vehicle part replacement device | |
| CN108281022A (en) | A kind of intelligent transportation robot command | |
| CN108116170A (en) | A kind of new type auto auto parts and components more changing device | |
| CN104029212B (en) | Three Degree Of Freedom is external turns heart rotating machinery wrist | |
| CN109336017A (en) | A kind of hoistable platform during cable laying |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
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. |
|
| TR01 | Transfer of patent right |