CN108032332A - A kind of bent axle conveying robot - Google Patents
A kind of bent axle conveying robot Download PDFInfo
- Publication number
- CN108032332A CN108032332A CN201711268089.XA CN201711268089A CN108032332A CN 108032332 A CN108032332 A CN 108032332A CN 201711268089 A CN201711268089 A CN 201711268089A CN 108032332 A CN108032332 A CN 108032332A
- Authority
- CN
- China
- Prior art keywords
- arm
- telescopic arm
- bent axle
- telescopic
- conveying robot
- 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.)
- Pending
Links
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of bent axle conveying robot, including manipulator to be connected with T-shaped linking arm, and the T-shaped support arm is installed on pedestal；The T-shaped linking arm includes the first support arm of vertical direction installation and the second telescopic arm of horizontal direction installation, and first support arm includes the first telescopic arm positioned at lower end and the rotating arm positioned at upper end；The supporting table being integrally connected with rotating arm lateral wall is further included, the 3rd telescopic arm is equipped between second telescopic arm and supporting table；The manipulator includes rotatable stator and machinery presss from both sides, and the front end of the rotatable stator is connected with machinery folder.The mutual cooperation that the present invention passes through all parts, manipulator is realized in the various flexible, rotations of three dimensions and the various action demands of oscillating motion, realize the automated handling of article, improve the operating efficiency of production line, production cost is reduced, and it is met that the requirement of the big production of modern automation realizes automatization level.
Description
Technical field
The invention belongs to manipulator field, and in particular to a kind of bent axle conveying robot.
Background technology
As rapid development of economy manipulator replaces high intensity and high accuracy at the same time for improving the production efficiency of society
Hand labor play the role of it is huge.Therefore the present invention devise one kind being capable of the rotating bent axle conveying robot of omnibearing movable
People.
The content of the invention
In view of the above-mentioned problems, the present invention proposes a kind of bent axle conveying robot of omnibearing movable.
Realize above-mentioned technical purpose, reach above-mentioned technique effect, the present invention is achieved through the following technical solutions：
A kind of bent axle conveying robot, including manipulator are connected with T-shaped linking arm, and the T-shaped support arm is installed on pedestal；
The T-shaped linking arm includes the first support arm of vertical direction installation and the second telescopic arm of horizontal direction installation, institute
The first support arm stated includes the first telescopic arm positioned at lower end and the rotating arm positioned at upper end；Further include and rotating arm lateral wall
Integrally connected supporting table, is equipped with the 3rd telescopic arm between second telescopic arm and supporting table；
The manipulator includes rotatable stator and machinery presss from both sides, and the front end of the rotatable stator is connected with machinery folder, and rear end leads to
Connection guide rod is crossed with the second telescopic arm to be connected.
As a further improvement on the present invention, the inside of second telescopic arm, the first telescopic arm and the 3rd telescopic arm is set
There are hydraulic cylinder and piston rod, the hydraulic cylinder is by promoting the movement of piston rod to complete the telescopic process of telescopic arm.
As a further improvement on the present invention, the rotating arm and rotatable stator are carried out by rotation axis of its central axis
360 ° of rotations.
As a further improvement on the present invention, the rotating arm is rotated by the first rotary connector and the second telescopic arm
It is connected, the upper end of the rotating arm is connected by the second connector with the second telescopic arm；The pivot of the rotating arm
Axis is parallel with vertical straight line, drives the second telescopic arm and machinery to be clipped in horizontal plane rotation.
As a further improvement on the present invention, the rear end of the rotatable stator is stretched by the second rotary connector and second
Contracting arm is connected, its front end is connected by fixedly connected part with machinery folder, and the rotatable stator drives machinery folder to surround its own
Center axis rotation.
As a further improvement on the present invention, it is described machinery folder for two refer to chelas, including cross connecting rod, articulated linkage and
V-type intermediate plate；The cross connecting rod and the central axis of rotatable stator are fixed；The articulated linkage and V-type intermediate plate pair
The both sides for being arranged on cross connecting rod claimed, both articulated connection points are connected with the both ends of cross connecting rod cross bar, described
The other end of articulated linkage is fixed on the surface of fixedly connected part.
As a further improvement on the present invention, the central shaft of the cross connecting rod is telescopic rod, with micro hydraulic
Cylinder is connected with piston rod.
As a further improvement on the present invention, it is additionally provided with connection between second telescopic arm and the second rotary connector
Guide rod.
As a further improvement on the present invention, the bottom of the 3rd telescopic arm is fixing end, and the upper end is movable end, institute
It using the second connector is the point of rotation in vertical plane pitching that the 3rd telescopic arm stated, which drives the second telescopic arm,.
As a further improvement on the present invention, first connector at the 3rd telescopic arm both ends at least one be bullet
Property connector.
Beneficial effects of the present invention：A kind of bent axle transfer robot proposed by the invention, passes through the mutual of all parts
Coordinate, realize manipulator in the various flexible, rotations of three dimensions and the various action demands of oscillating motion, realize the automatic of article
Change and carry, improve the operating efficiency of production line, reduce production cost, and it is met the requirement of the big production of modern automation
Realize automatization level.
Brief description of the drawings
Fig. 1 is the front view of an embodiment of the present invention；
Fig. 2 is the robot manipulator structure schematic diagram of the present invention；
Wherein：1- pedestals, the first telescopic arms of 2-, the first rotary connectors of 200-, 3- rotating arms, 4- rotary support tables, 5- second
Telescopic arm, the 3rd telescopic arms of 6-, the first connectors of 600-, 7- rotatable stators, 700- fixedly connected parts, 701- second are rotatably connected
Part, 8- machinery folders, 801- cross connecting rods, 801_1- central shafts, 802- articulated linkages, 803-V type intermediate plates, 9- connections are oriented to
Bar, the second connectors of 10-.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
The application principle of the present invention is explained in detail below in conjunction with the accompanying drawings.
A kind of bent axle conveying robot schematic diagram of the invention as shown in Figure 1, including manipulator and T-shaped linking arm phase
Even, the T-shaped support arm is installed on pedestal 1；The pedestal 1 is square casting pig, and bottom surface is fixed on by nut
On.
The T-shaped linking arm includes the first support arm of vertical direction installation and the second telescopic arm of horizontal direction installation
5, first support arm includes the first telescopic arm 2 positioned at lower end and the rotating arm 3 positioned at upper end；Described first is flexible
The bottom of arm 2 is fixed on pedestal 1, and the rotating arm 3 is connected by the second connector 10 with the second telescopic arm 5, it is connected
Point leans on the position of pericenter positioned at the second telescopic arm 5 in a contracted state.First telescopic arm 2 can extend upwards,
Realize manipulator moving up and down in space.The rotating arm 3 is revolved by the first rotary connector 200 and the second telescopic arm 5
Phase inversion connects, and the described central shaft of itself of rotating arm 3 be rotation axis, drive the second telescopic arm 5 and machinery folder 8 surround rotation axis into
The rotation of 360 ° of row, completes on the horizontal level in rotary moving.
The supporting table 4 being integrally connected with it is also provided with the outside of 3 side wall of rotating arm, it is flexible described second
The 3rd telescopic arm 6 is equipped between arm 5 and supporting table 4；The bottom of 3rd telescopic arm 6 is fixing end, and the upper end is movable end,
3rd telescopic arm 6 and the first support arm, which cooperate, not only acts as the effect of the second telescopic arm of Auxiliary support 5, while institute
The 3rd telescopic arm 6 stated drives the second telescopic arm 5 to be put down using the second telescopic arm 5 with the tie point of rotating arm 3 as the point of rotation vertical
The pitching in face.
Both ends due to the 3rd telescopic arm 6 is are fixedly connected with, first connector at 6 both ends of the 3rd telescopic arm
600 at least one be flexible connector, to weaken the bullet that the telescopic section of the 3rd telescopic arm 6 is born during flexible
Property stress.In order to coordinate the pitching motion of the second telescopic arm 5, second connector 10 is designed to triangle, its top with
Second telescopic arm 5 is connected, its bottom surface is fixed on rotating arm 3, revolves 3 and second telescopic arm 5 of rotating arm using screw rod as the point of rotation
Turn to be fixedly connected.
It can be accurate to by the first telescopic arm 2, rotating arm 3, the second telescopic arm 5 and 6 manipulator of the 3rd telescopic arm
Up to each position in the spatial dimension controlled, by article carrying to different positions.
In the present invention, second telescopic arm 5, the first telescopic arm 2 and the 3rd telescopic arm 13 be internally provided with hydraulic cylinder and
Piston rod, the hydraulic cylinder is by promoting the movement of piston rod to complete the telescopic process of telescopic arm.
As shown in Figs. 1-2, the manipulator includes rotatable stator 7 and machinery folder 8, the front end of the rotatable stator 7
It is connected with machinery folder 8, rear end is connected by connector 17 with the second telescopic arm 5.The rotatable stator 7 is with its central axis
360 ° of rotations are carried out for rotation axis, machinery folder rotation is driven according to the crawl of carried object and riding position, it is steady to facilitate
Fixed carrying object.
Machinery folder 8 as shown in Figure 2 refers to chela, including cross connecting rod 801, articulated linkage 802 and V-type intermediate plate for two
803；The cross connecting rod 801 and the central axis of rotatable stator 7 is fixed；The articulated linkage 802 and V-type intermediate plate
The 803 symmetrical both sides for being arranged on cross connecting rod 801, both ends of both articulated connection points with 30 cross bars of cross connecting rod
It is connected, the other end of the articulated linkage 802 is fixed on the surface of fixedly connected part 700.The cross connecting rod 801
Central shaft 801_1 is telescopic rod, is connected with micro hydraulic cylinder and piston rod.The flexible of piston rod is promoted by micro hydraulic cylinder
Movement, drives the movement of articulated linkage 802, so as to fulfill the opening and closing of V-type intermediate plate 803.The size of the size of the machinery folder 8
Replacement can be adjusted according to the object carried in producing line.
The rotatable stator 7 that the manipulator is located at rear end passes through the second rotary connector 701 and 5 phase of the second telescopic arm
Even, the front end of rotatable stator 7 is fixedly linked by fixedly connected part 700 and machinery folder 8.Therefore, the rotatable stator 7 surrounds
Its machinery folder 8 also rotates with it therewith during its own center axis rotation.
Connection guide rod 9 is additionally provided between second telescopic arm 5 and the second rotary connector 701 of manipulator, just
In the installation of manipulator periodically to carry out maintenance cleaning to equipment.
The basic principles, main features and the advantages of the invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (10)
- A kind of 1. bent axle conveying robot, it is characterised in that：It is connected including manipulator with T-shaped linking arm, the T-shaped support arm Installed in pedestal（1）On；The T-shaped linking arm includes the first support arm of vertical direction installation and the second telescopic arm of horizontal direction installation（5）, First support arm includes the first telescopic arm positioned at lower end（2）With the rotating arm positioned at upper end（3）；Further include and rotate Arm（3）The supporting table that lateral wall is integrally connected（4）, second telescopic arm（5）And supporting table（4）Between to be equipped with the 3rd flexible Arm（6）；The manipulator includes rotatable stator（7）Pressed from both sides with machinery（8）, the rotatable stator（7）Front end with machinery press from both sides（8） It is connected, rear end is by connecting guide rod（9）With the second telescopic arm（5）It is connected.
- A kind of 2. bent axle conveying robot according to claim 1, it is characterised in that：Second telescopic arm（5）, first Telescopic arm（2）With the 3rd telescopic arm（6）Be internally provided with hydraulic cylinder and piston rod, the hydraulic cylinder is by promoting piston rod The telescopic process of telescopic arm is completed in movement.
- A kind of 3. bent axle conveying robot according to claim 1, it is characterised in that：The rotating arm（3）And rotation Stator（7）360 ° of rotations are carried out by rotation axis of its central axis.
- A kind of 4. bent axle conveying robot according to claim 3, it is characterised in that：The rotating arm（3）Pass through One rotary connector（200）With the second telescopic arm（5）Rotation is connected, the rotating arm（3）Upper end pass through the second connector （10）With the second telescopic arm（5）It is connected；The rotating arm（3）Pivot axle it is parallel with vertical straight line, drive and second stretch Contracting arm（5）Pressed from both sides with machinery（8）Rotated in horizontal plane.
- A kind of 5. bent axle conveying robot according to claim 3, it is characterised in that：The rotatable stator（7）After End passes through the second rotary connector（701）With the second telescopic arm（5）It is connected, its front end passes through fixedly connected part（700）With machinery Folder（8）It is connected, the rotatable stator（7）Drive machinery folder（8）Around its own center axis rotation.
- A kind of 6. bent axle conveying robot according to claim 5, it is characterised in that：The machinery folder（8）Refer to pincers for two Pawl, including cross connecting rod（801）, articulated linkage（802）With V-type intermediate plate（803）；The cross connecting rod（801）With rotation Turn stator（7）Central axis fix；The articulated linkage（802）With V-type intermediate plate（803）It is symmetrical to be arranged on cross company Extension bar（801）Both sides, both articulated connection points and cross connecting rod（801）The both ends of cross bar are connected, the company of being hinged Bar（802）The other end be fixed on fixedly connected part（700）Surface.
- A kind of 7. bent axle conveying robot according to claim 6, it is characterised in that：The cross connecting rod（801） Central shaft（801_1）For telescopic rod, it is connected with micro hydraulic cylinder and piston rod.
- A kind of 8. bent axle conveying robot according to claim 5, it is characterised in that：Second telescopic arm（5）With Second rotary connector（701）Between be additionally provided with connection guide rod（9）.
- A kind of 9. bent axle conveying robot according to claim 1, it is characterised in that：3rd telescopic arm（6）Bottom It is movable end to hold as fixing end, the upper end, the 3rd telescopic arm（6）Drive the second telescopic arm（5）With the second connector （10）It is the point of rotation in vertical plane pitching.
- A kind of 10. bent axle conveying robot according to claim 9, it is characterised in that：3rd telescopic arm（6）Two First connector at end（600）At least one is flexible connector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711268089.XA CN108032332A (en) | 2017-12-05 | 2017-12-05 | A kind of bent axle conveying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711268089.XA CN108032332A (en) | 2017-12-05 | 2017-12-05 | A kind of bent axle conveying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108032332A true CN108032332A (en) | 2018-05-15 |
Family
ID=62095052
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711268089.XA Pending CN108032332A (en) | 2017-12-05 | 2017-12-05 | A kind of bent axle conveying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108032332A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109580267A (en) * | 2018-12-10 | 2019-04-05 | 天津工业大学 | A kind of linear expansion mechanism |
| CN110561473A (en) * | 2019-09-19 | 2019-12-13 | 佛山职业技术学院 | Can prevent manipulator of pencil landing |
| CN111703895A (en) * | 2020-06-17 | 2020-09-25 | 湖南省骏北科技有限公司 | Intelligent mechanical arm |
| CN113261984A (en) * | 2021-06-04 | 2021-08-17 | 深圳市深图医学影像设备有限公司 | DR suitable for NICU infants |
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| CN206663241U (en) * | 2017-04-29 | 2017-11-24 | 童红妃 | A kind of semi-automatic main force's manipulator |
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| US3805629A (en) * | 1972-06-01 | 1974-04-23 | Usm Corp | Devices for linear and rotational movements |
| DE3802166A1 (en) * | 1988-01-26 | 1989-08-03 | Praemeta | Manipulating appliance for transporting and positioning objects |
| JP2000153490A (en) * | 1998-11-18 | 2000-06-06 | K & M Enterprise Kk | Triaxial robot of long stroke |
| CN201669703U (en) * | 2010-05-14 | 2010-12-15 | 郑州新大方重工科技有限公司 | Turnover mechanical arm |
| CN202155882U (en) * | 2011-06-28 | 2012-03-07 | 苏州经贸职业技术学院 | Carrying manipulator system |
| CN103522292A (en) * | 2013-10-08 | 2014-01-22 | 盐城市昱博自动化设备有限公司 | Bearing carrying mechanical arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109580267A (en) * | 2018-12-10 | 2019-04-05 | 天津工业大学 | A kind of linear expansion mechanism |
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| CN111703895A (en) * | 2020-06-17 | 2020-09-25 | 湖南省骏北科技有限公司 | Intelligent mechanical arm |
| CN113261984A (en) * | 2021-06-04 | 2021-08-17 | 深圳市深图医学影像设备有限公司 | DR suitable for NICU infants |
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| PB01 | Publication | ||
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Application publication date: 20180515 |