CN108000507A - A kind of stack robot manipulator fixed angle turn device - Google Patents
A kind of stack robot manipulator fixed angle turn device Download PDFInfo
- Publication number
- CN108000507A CN108000507A CN201810007960.9A CN201810007960A CN108000507A CN 108000507 A CN108000507 A CN 108000507A CN 201810007960 A CN201810007960 A CN 201810007960A CN 108000507 A CN108000507 A CN 108000507A
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- China
- Prior art keywords
- cabinet
- rack
- fixed angle
- output shaft
- robot manipulator
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- 230000033001 locomotion Effects 0.000 claims description 16
- 230000035939 shock Effects 0.000 abstract description 4
- 230000001133 acceleration Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 abstract description 2
- 230000001737 promoting effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 230000017105 transposition Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000013361 beverage Nutrition 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000013404 process transfer Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000000007 visual effect Effects 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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The present invention relates to a kind of stack robot manipulator fixed angle turn device, including cabinet and linear actuator, linear actuator to be fixedly connected with cabinet, and rack, input gear, input shaft, driver plate, frid and output shaft are equipped with cabinet；One end of rack is connected with the output terminal of linear actuator；Rack is moved by engaging band driven input shaft positive and negative rotation with input gear；Input shaft is connected with output shaft by Geneva mechanism, and Geneva mechanism includes driver plate and frid, and radial slot and lock groove are offered on frid, and driver plate is equipped with the outer convex Locking arc of finger；The output terminal of output shaft, which is stretched out outside cabinet, is used for the handgrip for connecting robot palletizer.Servomotor driving is not used in the turn device of the present invention, but during indexing, output shaft stability of rotation, have obvious acceleration and deceleration process, without rigid shock, and accurately and reliably, and cost simple in structure is low, has higher promotional value for indexing.
Description
Technical field
The present invention relates to carry palletizing apparatus field, and in particular to a kind of stack robot manipulator fixed angle indexing dress
Put.
Background technology
As the development of science and technology and the raising of production automation level, the application of robot are more and more extensive.Stacking machine
Typical Representative of the people as robot, it is more and more wider in the application of the industries such as grain, food, beverage, feed, chemical industry and coal
It is general, the production efficiency of enterprise is greatly improved, reduces labor cost.
Robot palletizer has multiple structural forms, and wherein the robot of cartesian co-ordinate type is due to simple in structure, each axis
Action does not interfere with each other, controls easy, low cost and obtain wide application.During the stacking of cargo, due to pile type
It is different, it is often necessary to which that the handgrip of robot palletizer carries out 90 ° of indexing, and cargo is put by different directions.Common handgrip
The type of drive of transposition action has two kinds：Servomotor drives and pneumatic.Servomotor driving indexable mode stable movement, can
Realize any angle indexing, but it is of high cost, control system is complicated.Pneumatic indexable mode is typically to be driven by the cylinder rack to do directly
Line moves, then the linear motion of rack is converted to the rotary motion of handgrip by rack and pinion mechanism, is limited by fixed stop
The stroke of rack is so as to fulfill fixed angle indexing.Pneumatic indexable mode cost is low, control is simple, but is deposited in the whole story of indexing
In larger rigid shock, easily there is the unstable situation of cargo clamping, make there are security risk in palletization, at the same it is also right
Equipment traveling comfort and the stacking quality of cargo have an impact.
The content of the invention
The object of the present invention is to provide a kind of stack robot manipulator fixed angle turn device, is filled with solving existing indexing
Put the technical problem there are rigid shock.
In order to solve the above technical problems, the technical solution adopted in the present invention is：A kind of stack robot manipulator fixed angles
Turn device is spent, including cabinet and linear actuator, linear actuator are fixedly connected with cabinet, in cabinet by gear sequences successively
Equipped with rack, input gear, input shaft, driver plate, frid and output shaft；One end of rack is connected with the output terminal of linear actuator
Connect and can be driven by linear actuator and make straight line back and forth movement；The fixed angle of stack robot manipulator indexing is β, 45 °≤β
≤ 90 °, rack is made to be more than by engaging band driven input shaft with input gear（180°-β）The positive and negative rotation movement at angle；Input shaft and
Output shaft is arranged in parallel and is rotatablely connected respectively with cabinet；Input shaft is connected with output shaft by Geneva mechanism realizes output shaft
The indexing of β angles, the Geneva mechanism include the driver plate being connected on input shaft and the frid being connected on output shaft, are opened up on frid
There is radial slot, the both sides of radial slot are equipped with the lock groove of arc-shaped, and driver plate is equipped with columned finger, and finger diameter is equal to
Radial direction well width, the axial direction of finger is parallel with the axial direction of input shaft, and the both sides of finger are equipped with can be matched with lock groove
Outer convex Locking arc；The output terminal of output shaft, which is stretched out outside cabinet, is used for the handgrip for connecting robot palletizer.
Further, fixed angle β=90 °.
Further, the linear actuator is pneumatic cylinder, and rack is connected with the piston rod of pneumatic cylinder.
Further, rack guider is additionally provided with cabinet；Further, the rack guider includes leading
To taking turns and being oriented to wheeling support, it is oriented to wheeling support and is fixedly connected on cabinet inner wall, directive wheel is turned by axis pin with being oriented to wheeling support
Dynamic connection, the side for being oriented to wheel and rack back to input gear are in contact.
Further, rack is connected by rack connector with the output terminal of linear actuator.
Further, linear actuator is fixedly connected on the side wall on the outside of cabinet, and the output terminal of linear actuator stretches into
It is connected in cabinet and with rack.
Further, input shaft both ends and output shaft both ends are rotatablely connected by bearing and cabinet.
Further, the cabinet includes babinet and case lid, and babinet and case lid are detachably connected.
Beneficial effect：The turn device of the present invention makes output shaft in indexable process transfer by the cooperation of driver plate and frid
It is dynamic steady, and have obvious acceleration and deceleration process in the case of rack linear uniform motion, without rigid shock, indexing when indexing is completed
Accurately and reliably, and cost simple in structure is low, has higher promotional value.
Brief description of the drawings
Fig. 1 is external structure schematic diagram of the present invention；
Fig. 2 is internal structure schematic diagram of the present invention（Front view）；
Fig. 3 is the internal structure schematic diagram at another visual angle of the present invention（Top view）；
Fig. 4 is rack guider structure diagram；
The position relationship schematic diagram of frid and driver plate when Fig. 5 is lockup state；
Fig. 6 is that transposition action completes the position relationship schematic diagram of frid and driver plate during half；
Marked in figure：1st, cabinet, 1a, babinet, 1b, case lid, 2, linear actuator, 3, rack, 4, input gear, 5, input shaft,
6th, driver plate, 6a, finger, 6b, outer convex Locking arc, 7, frid, 7a, radial slot, 7b, lock groove, 8, output shaft, 9, rack be oriented to dress
Putting, 9a, directive wheel, 9b, be oriented to wheeling support, 9c, axis pin, and 10, rack connector, 11, input shaft end cap, 12, output shaft end cap.
Embodiment
Below with 90 ° of indexings of stack robot manipulator（That is the situation of fixed angle β=90 °, namely handgrip carry out 90 ° of turn
Position）And exemplified by pneumatic cylinder driving, and the present invention is described in further detail with reference to attached drawing, non-detailed portion is below
The prior art uses what the prior art can be realized.
As shown in Figs. 1-3, a kind of 90 ° of turn devices of stack robot manipulator, including cabinet 1 and linear actuator 2, cabinet
1 includes babinet 1a and case lid 1b, and babinet 1a and case lid 1b are detachably connected by bolt, and case lid 1b is arranged on above babinet 1a and uses
In the vertical shaft of connection robot palletizer, the linear actuator 2 is pneumatic cylinder, and pneumatic cylinder is fixedly connected on babinet 1a lateral walls
On, the piston rod of pneumatic cylinder（That is the output terminal of linear actuator）Stretch into babinet 1a；
As Figure 2-3, rack 3, input gear 4, input shaft 5, driver plate 6, frid 7 are equipped with successively by gear sequences in babinet 1a
With output shaft 8；One end of rack 3 is connected by rack connector 10 with the piston rod of pneumatic cylinder, and can be driven by pneumatic cylinder
Act straight line back and forth movement；3 back and forth movement of rack simultaneously is made to be more than 90 ° by the band driven input shaft 5 that engages with input gear 4（I.e.
180°-β）Positive and negative rotation movement（It is 180 ° of positive and negative rotations in the present embodiment）；As shown in Figure 3-4, rack 3 is back to input gear
4 side is equipped with directive wheel 9a and is oriented to wheeling support 9b, and directive wheel 9a is arranged on by axis pin 9c and is oriented on wheeling support 9b, and
Directive wheel 9a can be rotated around axis pin 9c, and the both ends of directive wheel 9a have the cricoid boss radially extended along axis pin 9c, and rack 3 is carried on the back
Between two boss being caught in the side of input gear 4, part and rack 3 of the directive wheel 9a outer ring surfaces between two boss
Back is in contact（Rack back refers to rack back to the end face of input gear）, it is oriented to wheeling support 9b and is fixedly connected on babinet 1a inner walls
On, directive wheel 9a, be oriented to the work that wheeling support 9b and axis pin 9c plays rack collectively as rack guider 9 support and guiding
With；
As shown in Fig. 2, input shaft 5 and output shaft 8 are arranged in parallel；5 upper end of input shaft and 8 upper end of output shaft pass through bearing and case
1b rotation connections are covered, 5 lower end of input shaft and output shaft 8 are connected at lower end by bearing with babinet 1a lower rotations；It is defeated
Enter 5 lower end of axis and be equipped with input shaft end cap 11, input shaft end cap 11 is bolted to connection on babinet 1a；8 lower end of output shaft
The handgrip that babinet 1a bottom outsides are used to connect robot palletizer is stretched out, output shaft 8 is equipped with output shaft end cap 12 at lower end
And oil sealing；
As shown in Fig. 2,5-6, input shaft 5 is connected with output shaft 8 by Geneva mechanism realizes 90 ° of indexings of output shaft 8, the groove
Wheel mechanism includes the driver plate 6 being connected on input shaft 5 and the frid 7 being connected on output shaft 8, and radial slot is offered on frid 7
The both sides of 7a, radial slot 7a are equipped with the lock groove 7b of arc-shaped, and driver plate 6 is equipped with columned finger 6a, finger 6a diameters
It is equal to（Actually it is slightly less than, i.e., can just enters radial slot and can guarantee that and not separated in both transmission process, so as to ensure
The stabilization of relative motion）Radial slot 7a width, the axial direction of finger 6a is parallel with the axial direction of input shaft 5, and the both sides of finger 6a are set
Having can be with the matched outer convex Locking arc 6b of lock groove 7b.
Operation principle：Before transposition action starts, with reference to Fig. 5, one of lock groove 7b of frid 7（First）Corresponded to
Outer convex Locking arc 6b lockings, at this time, finger 6a is separated with radial slot 7a and in finger 6a axes movement locus and radial slot 7a
Heart line is tangent, and axial connecting line and the radial slot 7a centerlines of input shaft 5 and output shaft 8 are 45 °（That is β/2）；Transposition action
After beginning, pneumatic cylinder elongation（Or shrink）Band carry-over bar 3 is for linear motion, and rack 3 is made by input gear 4 with driven input shaft 5
Rotary motion more than 90 °, finger 6a enter radial slot 7a and drive frid 7 to rotate, and frid 7 rotates 45 °（That is β/2）Afterwards, join
According to Fig. 6, first lock groove has been separated with outer convex Locking arc 6b, another lock groove 7b（Second）With outer convex Locking arc 6b
Not yet contact, frid 7 is rotated further, after rotating 90 °, with reference to Fig. 5（By Fig. 5 upsets symmetrical above and below）, finger 6a again with footpath
Separated to groove 7a, second lock groove is locked out（Input shaft is rotated further, and frid is not rotated further by）, complete indexing in 90 °；When need
When going back to home position, pneumatic cylinder is retracted（Or elongation）, input shaft 5 inverts, and output shaft 8 drives handgrip to go back to home position.
For handgrip need with the fixed angle β more than or equal to 45 °, less than 90 ° it is indexable when, can be in 90 ° of turn devices
On the basis of, the axial connecting line of input shaft 5 and output shaft 8 and radial slot 7a centerlines are decreased to β/2, at the same it is opposite
Reduce the radius and the distance between input shaft 5 and output shaft 8 of finger 6a axes movement locus；Or by 5 He of input shaft
The axial connecting line of output shaft 8 and radial slot 7a centerlines are decreased to size of opposite increase frid 7 etc. while β/2.
It should be noted that if driver plate 6 and frid 7 are respectively divided into two parts according to transmission and locking, i.e.,
Driver plate 6 is divided into a disk containing finger 6a and a disk containing outer convex Locking arc 6b, and frid 7 is divided into one and contains radial slot
The plate of 7a and a plate containing lock groove 7b, and still be able to play the effect in the application, then it should be understood to and this hair
The equivalent technical characteristic of bright middle driver plate 6 and frid 7.
In short, the invention is not limited in above-described embodiment, enlightenment of the those skilled in the art in basic idea of the present invention
Under, the deformation and modification made, have no effect on substantive content of the invention, within the protection domain of patent of the present invention.
Claims (9)
- A kind of 1. stack robot manipulator fixed angle turn device, it is characterised in that：Including cabinet（1）And linear actuator （2）, linear actuator（2）With cabinet（1）It is fixedly connected, cabinet（1）It is interior to be equipped with rack successively by gear sequences（3）, input tooth Wheel（4）, input shaft（5）, driver plate（6）, frid（7）And output shaft（8）；Rack（3）One end and linear actuator（2）Output terminal be connected and can be by linear actuator（2）Straight line is made in driving Back and forth movement；The fixed angle of stack robot manipulator indexing is β, 45 °≤β≤90 °, rack（3）By with input gear（4） Engagement band driven input shaft（5）Make the positive and negative rotation movement for being more than 180 ° of-β angles；Input shaft（5）And output shaft（8）Be arranged in parallel and respectively with cabinet（1）Rotation connection；Input shaft（5）With output shaft（8） It is connected by Geneva mechanism and realizes output shaft（8）β angles indexing, the Geneva mechanism include be connected to input shaft（5）On dial Disk（6）Be connected to output shaft（8）On frid（7）, frid（7）On offer radial slot（7a）, radial slot（7a）Both sides It is equipped with the lock groove of arc-shaped（7b）, driver plate（6）It is equipped with columned finger（6a）, finger（6a）Diameter is equal to radial slot （7a）Width, finger（6a）Axial direction and input shaft（5）Axial direction it is parallel, finger（6a）Both sides be equipped with can be with lock groove （7b）Matched outer convex Locking arc（6b）；Output shaft（8）Output terminal stretch out cabinet（1）The outer handgrip for being used to connect robot palletizer.
- A kind of 2. stack robot manipulator fixed angle turn device according to claim 1, it is characterised in that：Described Fixed angle β=90 °.
- A kind of 3. stack robot manipulator fixed angle turn device according to claim 1, it is characterised in that：Described Linear actuator（2）For pneumatic cylinder, rack（3）It is connected with the piston rod of pneumatic cylinder.
- A kind of 4. stack robot manipulator fixed angle turn device according to claim 1, it is characterised in that：Cabinet （1）Inside it is additionally provided with rack guider（9）.
- A kind of 5. stack robot manipulator fixed angle turn device according to claim 4, it is characterised in that：Described Rack guider（9）Including directive wheel（9a）With guiding wheeling support（9b）, it is oriented to wheeling support（9b）It is fixedly connected on cabinet（1） On inner wall, directive wheel（9a）Pass through axis pin（9c）With being oriented to wheeling support（9b）Rotation connection, directive wheel（9a）With rack（3）Back to Input gear（4）Side be in contact.
- A kind of 6. stack robot manipulator fixed angle turn device according to claim 1, it is characterised in that：Rack （3）Pass through rack connector（10）With linear actuator（2）Output terminal be connected.
- A kind of 7. stack robot manipulator fixed angle turn device according to claim 1, it is characterised in that：Straight line drives Dynamic device（2）It is fixedly connected on cabinet（1）On the side wall in outside, linear actuator（2）Output terminal stretch into cabinet（1）Interior and and tooth Bar（3）It is connected.
- A kind of 8. stack robot manipulator fixed angle turn device according to claim 1, it is characterised in that：Input shaft （5）Both ends and output shaft（8）Both ends pass through bearing and cabinet（1）Rotation connection.
- A kind of 9. stack robot manipulator fixed angle turn device according to claim 1, it is characterised in that：Described Cabinet（1）Including babinet（1a）And case lid（1b）, babinet（1a）And case lid（1b）It is detachably connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810007960.9A CN108000507B (en) | 2018-01-04 | 2018-01-04 | Fixed angle transposition device of palletizing robot tongs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810007960.9A CN108000507B (en) | 2018-01-04 | 2018-01-04 | Fixed angle transposition device of palletizing robot tongs |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108000507A true CN108000507A (en) | 2018-05-08 |
| CN108000507B CN108000507B (en) | 2024-02-27 |
Family
ID=62049703
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810007960.9A Active CN108000507B (en) | 2018-01-04 | 2018-01-04 | Fixed angle transposition device of palletizing robot tongs |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108000507B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2873356Y (en) * | 2005-11-18 | 2007-02-28 | 李德锵 | Full automatic spring coiling machine robot intermittent mechanism |
| CN202007875U (en) * | 2011-04-08 | 2011-10-12 | 湖北汽车工业学院 | Conjugate curve Geneva wheel indexing box |
| JP2013077394A (en) * | 2011-09-29 | 2013-04-25 | Tkd Kk | Three-step switch manipulator |
| CN106374317A (en) * | 2016-10-05 | 2017-02-01 | 周末 | Pulley rail type periodic grooved wheel terminal punching machine |
| CN206747877U (en) * | 2017-04-18 | 2017-12-15 | 长江师范学院 | A kind of Geneva mechanism and automatic soldering device |
| CN207841326U (en) * | 2018-01-04 | 2018-09-11 | 河南科技大学 | A kind of stack robot manipulator fixed angle turn device |
-
2018
- 2018-01-04 CN CN201810007960.9A patent/CN108000507B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2873356Y (en) * | 2005-11-18 | 2007-02-28 | 李德锵 | Full automatic spring coiling machine robot intermittent mechanism |
| CN202007875U (en) * | 2011-04-08 | 2011-10-12 | 湖北汽车工业学院 | Conjugate curve Geneva wheel indexing box |
| JP2013077394A (en) * | 2011-09-29 | 2013-04-25 | Tkd Kk | Three-step switch manipulator |
| CN106374317A (en) * | 2016-10-05 | 2017-02-01 | 周末 | Pulley rail type periodic grooved wheel terminal punching machine |
| CN206747877U (en) * | 2017-04-18 | 2017-12-15 | 长江师范学院 | A kind of Geneva mechanism and automatic soldering device |
| CN207841326U (en) * | 2018-01-04 | 2018-09-11 | 河南科技大学 | A kind of stack robot manipulator fixed angle turn device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108000507B (en) | 2024-02-27 |
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