CN108127657A - A kind of manipulator work tool structure - Google Patents
A kind of manipulator work tool structure Download PDFInfo
- Publication number
- CN108127657A CN108127657A CN201711177116.2A CN201711177116A CN108127657A CN 108127657 A CN108127657 A CN 108127657A CN 201711177116 A CN201711177116 A CN 201711177116A CN 108127657 A CN108127657 A CN 108127657A
- Authority
- CN
- China
- Prior art keywords
- gear
- shaft
- guide rod
- workpiece
- pedestal
- 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- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of manipulator work tool structures, including pedestal, the pedestal is equipped with robot device, the robot device includes the shaft mounting base being fixed on pedestal, rotation is socketed with first rotating shaft successively from outside to inside in the shaft mounting base, second shaft, third shaft, the front end of the first rotating shaft is equipped with runing rest, the both ends of the runing rest are rotatably connected to first gear and second gear respectively, the first gear is parallel with second gear and is oppositely arranged, the front end of second shaft is fixedly connected with third gear, the third gear and the perpendicular setting of first gear and engaged transmission, the first gear is identical with third gear shape.The robot device movement diversification of the present invention, can meet several work demand；Workpiece clamping device realizes secondary clamping effect by a gripper cylinder, simple in structure, and piece-holder stability is high, has practicability.
Description
Technical field
The present invention relates to field of mechanical technique, particularly relate to a kind of manipulator work tool structure.
Background technology
The work tool flexibility of the prior art is inadequate, it is difficult to the job task of adaptation diversity；In addition Workpiece clamping fills
It is not firm enough to put clamping, complicated, stability is poor.
Invention content
The technical problems to be solved by the invention are to provide a kind of manipulator work tool structure, to solve in the prior art
Work tool flexibility is inadequate, it is difficult to the job task of adaptation diversity；In addition Workpiece clamping device clamping is not firm enough, structure
The technical issues of complexity, stability is poor.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of manipulator work tool structure, including pedestal,
The pedestal is equipped with robot device, and the robot device includes the shaft mounting base being fixed on pedestal, the shaft
Rotation is socketed with first rotating shaft, the second shaft, third shaft successively from outside to inside in mounting base, and the front end of the first rotating shaft is set
Have a runing rest, the both ends of the runing rest are rotatably connected to first gear and second gear respectively, the first gear and
Second gear is parallel and is oppositely arranged, and the front end of second shaft is fixedly connected with third gear, the third gear and
The perpendicular setting of one gear and engaged transmission, the first gear is identical with third gear shape, the front end of the third shaft
The 4th gear, the 4th gear and the perpendicular setting of second gear and engaged transmission are fixedly connected with, the first gear
Bottom is connected with manipulator rotary shaft rack, and the 4th shaft, the 4th shaft are rotatably connected on the manipulator rotary shaft rack
Inner end be equipped with the 5th gear, outboard end is equipped with manipulator, the 5th gear setting perpendicular with second gear and engages
Transmission, the second gear, the 4th gear, the 5th gear shape be identical, the first rotating shaft, the second shaft, third shaft
Rear end is respectively equipped with a transmission gear, and each transmission gear engages a driving rack, and each driving rack is by a gas
Cylinder is driven so that the driving rack moves along a straight line back and forth；
Workpiece clamping device is additionally provided on the pedestal, the Workpiece clamping device includes the operation post being set on pedestal,
Be additionally provided with the first hinged seat and the second hinged seat on the pedestal, second hinged seat be located at the first hinged seat and operation post it
Between, gripper cylinder is rotatablely connected on first hinged seat, is rotatablely connected the first guide rod on second hinged seat, described first
Sliding sleeve is equipped with sliding sleeve on guide rod, is located on first guide rod above sliding sleeve and is also arranged with the first spring, the sliding sleeve side wall
Sliding sleeve shaft is equipped with, the output terminal of the gripper cylinder is rotationally connected in sliding sleeve shaft, and the upper end of first guide rod turns
The dynamic medium position for being connected to the second guide rod, second guide rod are rotatably connected to third close to one end of the first hinged seat and lead
Bar, the other end of the third guide rod are rotationally connected in sliding sleeve shaft, the one of separate first hinged seat above the operation post
Side is equipped with stopper section, and the stopper section is used to abut against the workpiece being positioned on operation post, be located under sliding sleeve on first guide rod
Side is installed with side surface of workpiece mandril, and the side surface of workpiece mandril is used to support on the workpiece close to the one side of the first guide rod,
The other end of second guide rod is used to support the top surface of the workpiece, first guide rod, the second guide rod, third guide rod, work
Part side mandril is respectively positioned on same plane；
Dust-extraction unit is additionally provided on the pedestal, the dust-extraction unit includes babinet, and the babinet is equipped with air inlet, goes out
Air port, connects exhaust fan on the air inlet, and the babinet lower end connects purifier by connecting tube, under the purifier
End connects water storage box, and upper end is equipped with spray tube in the babinet, and the spray tube is connect by feed pipe with water storage box, described to give
Water pipe is equipped with water-supply valve, and dust concentration sensor and controller, the exhaust fan, water-supply valve, ash are equipped on the outside of the babinet
Dust concentration sensor is respectively connect with controller, and the water storage box is set on the base.
The above-mentioned technical proposal of the present invention has the beneficial effect that：
In said program, robot device of the invention movement diversification can meet several work demand；Workpiece clamping fills
Put realizes secondary clamping effect by a gripper cylinder, simple in structure, and piece-holder stability is high, has practicability.
Description of the drawings
Fig. 1 is the layout of the present invention.
Fig. 2 is the structure chart of the robot device of the present invention.
Fig. 3 is the Structure explosion diagram of the robot device of the present invention.
Fig. 4 is the structure chart of the Workpiece clamping device of the present invention.
Fig. 5 is the Structure explosion diagram of the Workpiece clamping device of the present invention.
Fig. 6 is the structure chart of the dust-extraction unit of the present invention.
Specific embodiment
To make the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
For convenience of description, before left side is in Fig. 1, after right side is.
As shown in Figure 1 to Figure 3, the embodiment of the present invention provides a kind of manipulator work tool structure, including pedestal 100, institute
Pedestal 102 is stated equipped with robot device 10, the robot device 10 includes the shaft mounting base being fixed on pedestal 100
11, rotation is socketed with first rotating shaft 12, the second shaft 13, third shaft 14 successively from outside to inside in the shaft mounting base 11,
I.e. first rotating shaft 12, the second shaft 13, third shaft 14 are coaxially disposed, and third shaft 14 is rotatably dispose in the second shaft 13,
Second shaft 13 is rotatably dispose in first rotating shaft 12, and first rotating shaft 12 is rotatably dispose in shaft mounting base 11, third shaft
14 and second between shaft 13, between the second shaft 13 and first rotating shaft 12, can between first rotating shaft 12 and shaft mounting base 11
It is rotatedly connected by bearing (not shown), so that first rotating shaft 12, the second shaft 13, the rotation of third shaft 14 are non-interference,
The length of third shaft 14 is more than the length of the second shaft 13, and the length of the second shaft 13 is more than the length of first rotating shaft 12, institute
The front end for stating first rotating shaft 12 is equipped with runing rest 15, and the both ends of the runing rest 15 are rotatably connected to first gear 16 respectively
With second gear 17, the first gear 16 is parallel with second gear 17 and is oppositely arranged, and the front end of second shaft 13 is consolidated
Surely third gear 18 is connected with, i.e. the second shaft 13 and third gear 18 rotates synchronously, the third gear 18 and first gear
16 perpendicular settings and engaged transmission, the first gear 16 is identical with 18 shape of third gear, before the third shaft 14
End is fixedly connected with the 4th gear 19, i.e. 14 and the 4th gear 19 of third shaft rotates synchronously, the 4th gear 19 and second
17 perpendicular setting of gear and engaged transmission, the bottom of the first gear 16 is connected with manipulator rotary shaft rack 20, manipulator
Rotary shaft rack 20 and first gear 16 rotate synchronously, and the 4th shaft 21 is rotatably connected on the manipulator rotary shaft rack 20, the
Four shafts 21 are coaxially disposed with third shaft 14, and the inner end of the 4th shaft 21 is equipped with the 5th gear 22, and outboard end is equipped with
Manipulator 23, the 5th gear 22 and 17 perpendicular setting of second gear and engaged transmission, the second gear 17, the 4th tooth
Wheel 19,22 shape of the 5th gear it is identical, the first rotating shaft 12, the second shaft 13, third shaft 14 rear end be respectively equipped with one
Transmission gear 24, each transmission gear 24 engage a driving rack 25, and each driving rack 25 (is not schemed by a cylinder
Show) it drives so that the driving rack 25 moves along a straight line back and forth.Motion principle is as follows：When the rotation of third shaft is operated alone, lead to
The transmission of the 4th gear, second gear, the 5th next round is crossed, makes the 4th shaft rotation, the rotation of rotation direction and third shaft
Direction is opposite；When the rotation of the second shaft is operated alone, pass through third gear, the transmission of first gear and second gear, the 5th
The engagement of gear makes the 4th shaft be moved upwards in horizontal plane side and makes the 4th shaft rotation；First rotating shaft rotation is operated alone
When, runing rest rotates, and drives second gear movement, by second gear, the transmission of the 5th gear, make the 4th shaft to
Oblique upper moves, and is concurrently born from and turns；When driving third shaft and the second shaft simultaneously, the 4th shaft can be made on horizontal plane direction
Movement, and rotation does not occur；Therefore robot device movement diversification, can meet several work demand.Manipulator can have
Cleaning means, soldering appliance etc. multiple types of tools, this is not restricted, and manipulator can also be realized in itself by stretching structure
Processing operation to workpiece surface.
As shown in Figure 1, Figure 4 and Figure 5, Workpiece clamping device 30, the Workpiece clamping device are additionally provided on the pedestal 100
For clamping workpiece 31, the Workpiece clamping device includes the operation post 32 being set on pedestal 100, is also set on the pedestal 100
Have the first hinged seat 33 and the second hinged seat 34, second hinged seat 34 between the first hinged seat 33 and operation post 32,
Gripper cylinder 35 is rotatablely connected on first hinged seat 33, the first guide rod 36, institute are rotatablely connected on second hinged seat 34
It states sliding sleeve on the first guide rod 36 and is equipped with sliding sleeve 37,37 top of sliding sleeve is located on first guide rod 36 and is also arranged with the first spring
38,37 side wall of sliding sleeve is equipped with sliding sleeve shaft 39, and the output terminal 40 of the gripper cylinder 35 is rotationally connected with sliding sleeve shaft
On 39, the upper end of first guide rod 36 is rotationally connected with the medium position of the second guide rod 41, and second guide rod 41 is close to
One end of one hinged seat 33 is rotatably connected to third guide rod 42, and the other end of the third guide rod 42 is rotationally connected with sliding sleeve shaft
On 39,32 side of the top far from the first hinged seat 33 of operation post is equipped with stopper section 43, and the stopper section 43 is used to abut against
The workpiece 31 being positioned on operation post 32 is located at 37 lower section of sliding sleeve on first guide rod 36 and is installed with side surface of workpiece mandril 44,
The side surface of workpiece mandril 44 is used to support on the workpiece 31 close to the one side of the first guide rod 36, second guide rod 41
The other end is used to support the top surface of the workpiece 31, first guide rod 36, the second guide rod 41, third guide rod 42, side surface of workpiece
Mandril 44 is respectively positioned on same plane.
During work, workpiece is positioned on workbench, starts gripper cylinder, output terminal drives the first guide rod by sliding sleeve
Rotation, side surface of workpiece mandril are abutted against first close to the one side of the first guide rod on workpiece, and the first guide rod no longer rotates, with defeated
Outlet continues to extend, and sliding sleeve is compressed along the first guide rod upward sliding, spring, and compressed spring provides support force to workpiece side
Face mandril makes side surface of workpiece mandril abut against workpiece, while the sliding sleeve risen drives the one of the second guide rod by third guide rod
End is resisted against the top surface of workpiece, forms secondary clamping effect；After gripper cylinder resets, entire clamping device can answer therewith
Position.
As shown in figures 1 to 6, dust-extraction unit 7 is additionally provided on the pedestal 100, the dust-extraction unit 7 includes babinet 71,
The babinet 71 is equipped with air inlet 72, air outlet 73, connects exhaust fan 74 on the air inlet 72,71 lower end of babinet leads to
It crosses connecting tube 75 and connects purifier 76,76 lower end of purifier connects water storage box 77, and upper end is equipped in the babinet 71
Spray tube 78, the spray tube 78 are connect by feed pipe 79 with water storage box 77, and the feed pipe 79 is equipped with water-supply valve 80, institute
It states 71 outside of babinet and is equipped with dust concentration sensor 81 and controller 82, the exhaust fan 74, water-supply valve 80, dust concentration sensing
Device 81 is respectively connect with controller 82, and the water storage box 77 is arranged on pedestal 100.Made by dust concentration Sensor monitoring
The dust concentration of industry environment, when dust concentration is more than certain value, signal is transmitted to controller, controller by dust concentration sensor
It signals to open exhaust fan, water-supply valve, air is pumped into babinet by exhaust fan, and spray tube, which sprays water, carries out the dust in air
It settles, then air goes out discharge from air outlet, and the water after ejection is flowed back by filtering, sterilization in water storage box, and carrying out repetition makes
With.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, several improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (1)
1. a kind of manipulator work tool structure, including pedestal, which is characterized in that the pedestal is equipped with robot device, institute
It states robot device and includes the shaft mounting base being fixed on pedestal, socket is rotated successively from outside to inside in the shaft mounting base
There are first rotating shaft, the second shaft, a third shaft, the front end of the first rotating shaft is equipped with runing rest, and the two of the runing rest
End is rotatably connected to first gear and second gear respectively, and the first gear is parallel with second gear and is oppositely arranged, described
The front end of second shaft is fixedly connected with third gear, the third gear and the perpendicular setting of first gear and engaged transmission,
The first gear is identical with third gear shape, and the front end of the third shaft is fixedly connected with the 4th gear, and the described 4th
Gear and the perpendicular setting of second gear and engaged transmission, the bottom of the first gear is connected with manipulator rotary shaft rack, institute
It states and the 4th shaft is rotatably connected on manipulator rotary shaft rack, the inner end of the 4th shaft is equipped with the 5th gear, outboard end
Equipped with manipulator, the 5th gear and the perpendicular setting of second gear and engaged transmission, the second gear, the 4th gear,
5th gear shape is identical, the first rotating shaft, the second shaft, third shaft rear end be respectively equipped with a transmission gear, it is each
The transmission gear engages a driving rack, and each driving rack is driven by a cylinder so that the driving rack is straight back and forth
Line moves；
Workpiece clamping device is additionally provided on the pedestal, the Workpiece clamping device includes the operation post being set on pedestal, described
The first hinged seat and the second hinged seat are additionally provided on pedestal, second hinged seat between the first hinged seat and operation post,
Gripper cylinder is rotatablely connected on first hinged seat, the first guide rod is rotatablely connected on second hinged seat, described first leads
Sliding sleeve is equipped with sliding sleeve on bar, is located above sliding sleeve on first guide rod and is also arranged with the first spring, on the sliding sleeve side wall
Equipped with sliding sleeve shaft, the output terminal of the gripper cylinder is rotationally connected in sliding sleeve shaft, the upper end rotation of first guide rod
The medium position of the second guide rod is connected to, second guide rod is rotatably connected to third guide rod close to one end of the first hinged seat,
The other end of the third guide rod is rotationally connected in sliding sleeve shaft, and the side far from the first hinged seat is set above the operation post
There is stopper section, the stopper section is used to abut against the workpiece being positioned on operation post, be located on first guide rod solid below sliding sleeve
Equipped with side surface of workpiece mandril, the side surface of workpiece mandril is used to support close to the one side of the first guide rod on the workpiece, described
The other end of second guide rod is used to support the top surface of the workpiece, first guide rod, the second guide rod, third guide rod, workpiece side
Face mandril is respectively positioned on same plane；
Dust-extraction unit is additionally provided on the pedestal, the dust-extraction unit includes babinet, and the babinet is equipped with air inlet, outlet air
Mouthful, exhaust fan is connected on the air inlet, the babinet lower end connects purifier, the purifier lower end by connecting tube
Water storage box is connected, upper end is equipped with spray tube in the babinet, and the spray tube is connect by feed pipe with water storage box, the feedwater
Pipe is equipped with water-supply valve, and dust concentration sensor and controller, the exhaust fan, water-supply valve, dust are equipped on the outside of the babinet
Concentration sensor is respectively connect with controller, and the water storage box is set on the base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711177116.2A CN108127657A (en) | 2017-11-22 | 2017-11-22 | A kind of manipulator work tool structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711177116.2A CN108127657A (en) | 2017-11-22 | 2017-11-22 | A kind of manipulator work tool structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108127657A true CN108127657A (en) | 2018-06-08 |
Family
ID=62388825
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711177116.2A Withdrawn CN108127657A (en) | 2017-11-22 | 2017-11-22 | A kind of manipulator work tool structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108127657A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108907915A (en) * | 2018-07-26 | 2018-11-30 | 戴杰磨床集团股份有限公司 | A kind of grinding machine for blade grinding |
| CN109015133A (en) * | 2018-07-26 | 2018-12-18 | 戴杰磨床集团股份有限公司 | A kind of blade grinding grinder |
-
2017
- 2017-11-22 CN CN201711177116.2A patent/CN108127657A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108907915A (en) * | 2018-07-26 | 2018-11-30 | 戴杰磨床集团股份有限公司 | A kind of grinding machine for blade grinding |
| CN109015133A (en) * | 2018-07-26 | 2018-12-18 | 戴杰磨床集团股份有限公司 | A kind of blade grinding grinder |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108127657A (en) | A kind of manipulator work tool structure | |
| CN110202376B (en) | Processing equipment for quick connector of washing machine pipeline | |
| JP2016022462A (en) | Slide apparatus and object driving gear | |
| CN108970317A (en) | A kind of numerically-controlled machine tool dust collecting | |
| CN107962559A (en) | A kind of manipulator work tool structure-improved | |
| CN111359935A (en) | Computer-controlled workpiece cleaning machine tool | |
| CN107695919A (en) | A kind of manipulator work tool of improvement | |
| CN207290112U (en) | Robot grinding system, robot system, lapping device, Acetabula device, driving part and Pressure generator | |
| CN108000527A (en) | A kind of environment-friendly type afforestation robot | |
| CN206263374U (en) | A kind of horizontal gear shapping machine for processing face gear | |
| CN107984466A (en) | A kind of new mechanical arm work tool | |
| CN109202923A (en) | Robot grinding system, robot system, grinding device, Acetabula device, driving part and Pressure generator | |
| CN107571178A (en) | A kind of auto parts and components assemble mechanism | |
| CN210251633U (en) | Miscellaneous dirt processing apparatus for lathe | |
| CN210165879U (en) | Tooth blank coaxiality detection tool | |
| CN108645919A (en) | A kind of high-performance ultrasound diagnostic device | |
| CN108176669A (en) | A kind of hardware automatic flushing device | |
| CN210365932U (en) | Workpiece sucker assembly | |
| CN110014295A (en) | A kind of automatic numerical control drilling tapping machine | |
| CN108405470A (en) | A kind of Vltrasonic device | |
| CN107984459A (en) | A kind of logistics operation equipment | |
| CN215507952U (en) | Cleaning device for sauna room integrated panel | |
| CN208865323U (en) | A kind of sack cleaner | |
| CN110026394A (en) | A kind of detection device in exhaust outlet | |
| CN218835526U (en) | Peculiar smell remove device is used in water paint production |
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: 20180608 |
|
| DD01 | Delivery of document by public notice | ||
| DD01 | Delivery of document by public notice |
Addressee: Chen Demei Document name: Notification of Approving Refund |