CN108016873A - A kind of reverse grasp handling mechanism of knuckle - Google Patents
A kind of reverse grasp handling mechanism of knuckle Download PDFInfo
- Publication number
- CN108016873A CN108016873A CN201711400855.3A CN201711400855A CN108016873A CN 108016873 A CN108016873 A CN 108016873A CN 201711400855 A CN201711400855 A CN 201711400855A CN 108016873 A CN108016873 A CN 108016873A
- Authority
- CN
- China
- Prior art keywords
- arm
- knuckle
- link
- reverse
- hole pin
- 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.)
- Withdrawn
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Classifications
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of reverse grasp handling mechanism of knuckle, and comprising base, rotation column is provided with base, rotates and is provided with linking arm on column, the front end of linking arm is provided with lift cylinders, lifting guide mechanism and mechanical arm assembly；Mechanical arm assembly includes link, and link coordinates with lift cylinders and lifting guide mechanism, and preceding arm and rear arm are respectively arranged with the rear and front end of link；The preceding movable cylinder coordinated with preceding arm and preceding guiding mechanism, and the rear movable cylinder coordinated with rear arm and rear guiding mechanism are additionally provided with link；Hanging sleeve is provided with preceding arm, hole pin is provided with rear arm；The present invention is used to carry oppositely positioned knuckle workpiece, base drives mechanical arm assembly to rotate by linking arm, linking arm is lifted by elevating mechanism electric manipulator component, and carried by mechanical arm assembly crawl knuckle workpiece between different stations, meet the needs of knuckle automated production, improve processing efficiency.
Description
Technical field
The present invention relates to a kind of reverse grasp handling mechanism of knuckle.
Background technology
Knuckle is the major part on steering axle of automobile, can make vehicle steadily traveling and sensitive transmission travel direction,
Support and drive front-wheel to be rotated around stub and make motor turning；And as automobile demand is increasing, yield is higher and higher, to turning
Requirement to the processing efficiency of section is also more and more harsh；Therefore, knuckle is in processing, by manually carrying obviously with not
The demand of upper yield, in order to adapt to the needs of automated production equipment, design knuckle grasp handling mechanism become urgently solve
Certainly the problem of.
The content of the invention
For above-mentioned technical problem, the purpose of the present invention is：Propose a kind of reverse grasp handling machine of knuckle
Structure.
What the technical solution of the present invention was realized in：A kind of reverse grasp handling mechanism of knuckle, comprising base,
Rotation column is provided with base, the driving mechanism coordinated with rotating column is provided with base, rotates the company of being provided with column
Arm is connect, the front end of linking arm is provided with lift cylinders, lifting guide mechanism and mechanical arm assembly；The mechanical arm assembly includes connection
Frame, link coordinate with lift cylinders and lifting guide mechanism, and preceding arm is respectively arranged with the rear and front end of link with after
Arm；The preceding movable cylinder coordinated with preceding arm and preceding guiding mechanism are additionally provided with the link, and is coordinated with rear arm
Rear movable cylinder and rear guiding mechanism；Hanging sleeve is provided with the preceding arm, hole pin is provided with rear arm.
Preferably, fine setting gear mechanism is additionally provided with the preceding arm, hanging sleeve is slid vertically by sunpender be arranged on before
On arm, the upper end of sunpender is provided with the rack structure coordinated with fine setting gear mechanism；After described detection is additionally provided with arm
Feedback mechanism, detects and is provided with feedback gear on feedback mechanism；The hole pin is hinged on the lower end of rear arm, the articulated shaft of hole pin
On be provided with follower gear, follower gear is rotated synchronously with the articulated shaft of hole pin, and is engaged with feedback gear.
Preferably, the front end of the hole pin is provided with fillet.
Preferably, the limited block coordinated with preceding arm is additionally provided with the sunpender.
Due to the utilization of above-mentioned technical proposal, the present invention has following advantages compared with prior art：
The reverse grasp handling mechanism of knuckle of the present invention, for carrying oppositely positioned knuckle workpiece, base passes through connection
Arm drives mechanical arm assembly to rotate, and linking arm drives mechanical arm assembly to lift by elevating mechanism, and is captured by mechanical arm assembly
Knuckle workpiece is carried between different stations, is met the needs of knuckle automated production, is improved processing efficiency.
Brief description of the drawings
Technical solution of the present invention is described further below in conjunction with the accompanying drawings：
Attached drawing 1 is the schematic diagram of the reverse grasp handling mechanism of knuckle of the present invention；
Attached drawing 2 is the schematic diagram of the mechanical arm assembly of the present invention.
Embodiment
Illustrate the present invention below in conjunction with the accompanying drawings.
As shown in attached drawing 1-2, a kind of reverse grasp handling mechanism of knuckle of the present invention, includes base 1, base 1
On be provided with and rotate column 2, the driving mechanism coordinated with rotating column 2 is provided with base 1, rotates the company of being provided with column 2
Arm 3 is connect, the front end of linking arm 3 is provided with lift cylinders 4, lifting guide mechanism 5 and mechanical arm assembly；The mechanical arm assembly includes
Link 11, link 11 coordinate with lift cylinders 4 and lifting guide mechanism 5, are set respectively on the rear and front end of link 11
There are preceding arm 12 and rear arm 13；Be additionally provided with the link 11 with preceding arm 12 coordinate preceding movable cylinder 14 and it is leading to
Mechanism 15, and the rear movable cylinder 16 and rear guiding mechanism 17 coordinated with rear arm 13；Hanging sleeve is provided with the preceding arm 12
18, hole pin 19 is provided with rear arm 13, and the front end of hole pin 19 is provided with fillet, and fillet can avoid misplacing within the specific limits
Dieback.
Fine setting gear mechanism 121 is additionally provided with the preceding arm 12, hanging sleeve 18 is slid vertically by sunpender 122 and is arranged on
On preceding arm 12, the upper end of sunpender 122 is provided with rack structure and limited block 123, and rack structure is matched somebody with somebody with fine setting gear mechanism 121
Close, limited block 123 coordinates with preceding arm 12, limits the stroke of hanging sleeve 18；Detection feedback machine is additionally provided with after described on arm 13
Structure 131, detects and is provided with feedback gear 132 on feedback mechanism 131；The hole pin 19 is hinged on the lower end of rear arm 13, hole pin
Follower gear 133 is provided with 19 articulated shaft, follower gear 133 is rotated synchronously with the articulated shaft of hole pin 19, and with feeding back tooth
The engagement of wheel 132.
During work, base 1 drives mechanical arm assembly to rotate by linking arm 3, and linking arm 3 drives machinery by lift cylinders 4
Hand component lifts；Mechanical arm assembly is before crawl, and preceding movable cylinder 14 and rear movable cylinder 16 are respectively by preceding arm 12 and rear arm
13 push distal end to, treat that link 11 drops to setting position, 12 He of arm before preceding movable cylinder 14 and rear movable cylinder 16 drive respectively
Arm 13 is mobile to centre afterwards, hole pin 19 is inserted into the control arm through hole 21 of knuckle, and hanging sleeve 18 is hung subtracting for knuckle
Arm 22 is shaken, then overall lifting, workpiece is picked up.
In lifting process, if knuckle workpiece does not keep horizontal, the angle excursion of workpiece can be reacted in hole pin 19,
Hole pin 19 can rotate along articulated shaft, and then drive follower gear 133 to rotate, and follower gear 133 drives feedback gear 132 will
Deflection angle feeds back to detection feedback mechanism 131, detects in feedback mechanism 131 and sets decoder and controller, and deflection angle is turned
It is changed to control instruction and sends to fine setting gear mechanism 121, fine setting gear mechanism 121 and passes through gear ＆ rack structure drive sunpender 122
Oscilaltion is finely tuned, and making knuckle workpiece, holding is horizontal in the handling process.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
Scholar can understand present disclosure and be carried out, and it is not intended to limit the scope of the present invention, it is all according to the present invention
The equivalent change or modification that Spirit Essence is made, should all cover within the scope of the present invention.
Claims (4)
- A kind of 1. reverse grasp handling mechanism of knuckle, it is characterised in that：Include base（1）, base（1）On to be provided with rotation vertical Column（2）, base（1）In be provided with rotate column（2）The driving mechanism of cooperation, rotates column（2）On be provided with linking arm （3）, linking arm（3）Front end be provided with lift cylinders（4）, lifting guide mechanism（5）And mechanical arm assembly；The mechanical arm assembly Include link（11）, link（11）With lift cylinders（4）And lifting guide mechanism（5）Coordinate, link（11）It is front and rear Preceding arm is respectively arranged with both ends（12）With rear arm（13）；The link（11）On be additionally provided with and preceding arm（12）Match somebody with somebody The preceding movable cylinder closed（14）With preceding guiding mechanism（15）, and with rear arm（13）The rear movable cylinder coordinated（16）With rear Guiding machine Structure（17）；The preceding arm（12）On be provided with hanging sleeve（18）, rear arm（13）On be provided with hole pin（19）.
- 2. the reverse grasp handling mechanism of knuckle according to claim 1, it is characterised in that：The preceding arm（12）It is upper to go back It is provided with fine setting gear mechanism（121）, hanging sleeve（18）Pass through sunpender（122）Slide vertically and be arranged on preceding arm（12）On, sunpender （122）Upper end be provided with fine setting gear mechanism（121）The rack structure of cooperation；Arm after described（13）On be additionally provided with inspection Survey feedback mechanism（131）, detect feedback mechanism（131）On be provided with feedback gear（132）；The hole pin（19）Hung after being hinged on Arm（13）Lower end, hole pin（19）Articulated shaft on be provided with follower gear（133）, follower gear（133）With hole pin（19）'s Articulated shaft rotates synchronously, and and feedback gear（132）Engagement.
- 3. the reverse grasp handling mechanism of knuckle according to claim 2, it is characterised in that：The hole pin（19）Front end It is provided with fillet.
- 4. the reverse grasp handling mechanism of knuckle according to claim 2, it is characterised in that：The sunpender（122）It is upper to go back It is provided with and preceding arm（12）The limited block of cooperation（123）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711400855.3A CN108016873A (en) | 2017-12-22 | 2017-12-22 | A kind of reverse grasp handling mechanism of knuckle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711400855.3A CN108016873A (en) | 2017-12-22 | 2017-12-22 | A kind of reverse grasp handling mechanism of knuckle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108016873A true CN108016873A (en) | 2018-05-11 |
Family
ID=62074557
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711400855.3A Withdrawn CN108016873A (en) | 2017-12-22 | 2017-12-22 | A kind of reverse grasp handling mechanism of knuckle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108016873A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109928202A (en) * | 2019-03-05 | 2019-06-25 | 广东博智林机器人有限公司 | Aluminum alloy pattern plate transfer robot |
| CN111115271A (en) * | 2020-01-14 | 2020-05-08 | 陕西杨凌旭荣农业科技有限公司 | Soil block stacking mechanical arm and using method thereof |
-
2017
- 2017-12-22 CN CN201711400855.3A patent/CN108016873A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109928202A (en) * | 2019-03-05 | 2019-06-25 | 广东博智林机器人有限公司 | Aluminum alloy pattern plate transfer robot |
| CN111115271A (en) * | 2020-01-14 | 2020-05-08 | 陕西杨凌旭荣农业科技有限公司 | Soil block stacking mechanical arm and using method thereof |
| CN111115271B (en) * | 2020-01-14 | 2024-04-02 | 吴忠旭荣农业科技有限公司 | Soil block stacking manipulator and application method thereof |
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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 | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180511 |