CN108284438A - A kind of manipulator equipped with rotatable intermediate station - Google Patents
A kind of manipulator equipped with rotatable intermediate station Download PDFInfo
- Publication number
- CN108284438A CN108284438A CN201810384707.5A CN201810384707A CN108284438A CN 108284438 A CN108284438 A CN 108284438A CN 201810384707 A CN201810384707 A CN 201810384707A CN 108284438 A CN108284438 A CN 108284438A
- Authority
- CN
- China
- Prior art keywords
- intermediate station
- rod
- supporting rack
- manipulator
- gear
- 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
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of manipulators equipped with rotatable intermediate station,Including pedestal,It is welded with supporting rack on the pedestal,Supporting rack is placed vertically,And the top of supporting rack is fixed with mounting bracket by screw,The one end of mounting bracket far from supporting rack is equipped with control-rod,The bottom of control-rod is equipped with manipulator,Bottom plate is mounted by means of screws at the top of pedestal,The top surface of bottom plate is equipped with fixed frame,Fixed frame is placed vertically,And the side of fixed frame close to supporting rack is equipped with horizontal mounting plate,Turntable is installed on mounting plate,It is hinged with motion bar in the disk of turntable,The other end of motion bar is hinged with first connecting rod,It is hinged with rotating bar in the plate face of mounting plate,The one end of rotating bar far from mounting plate is mounted by means of screws with slide block,Present invention decreases manually-operated necessity,Reduce cost of labor,And in the operating condition,Greatly improve working efficiency,With practicability.
Description
Technical field
The present invention relates to manipulator technical field more particularly to a kind of manipulators equipped with rotatable intermediate station.
Background technology
In present factory, product generally has specific production line, on a production line, has different production works
Sequence, often has the circulation of product, and such circulation process is that procedure completion is gone to another procedure, the prior art
Under, many product circulations are all to rely on hand haulage, and what is worked in this way is inefficient, and artificial long-time operation, has
Feeling of fatigue, thus there is logistics intermediate station, the rate of circulation is improved, however, present intermediate station much still needs manually
Semi-finished product are carried out to take, although improve efficiency, there are still deficiencies, therefore, devise it is a kind of it is rotatable in
Turntable, and manual work can be replaced by manipulator, further increase production efficiency.
Invention content
The purpose of the present invention is to solve disadvantages existing in the prior art, and the one kind proposed is equipped with rotatable transfer
The manipulator of platform.
To achieve the goals above, present invention employs following technical solutions：
A kind of manipulator equipped with rotatable intermediate station, including pedestal, supporting rack is welded on the pedestal, and supporting rack is perpendicular
It is straight to place, and the top of supporting rack is fixed with mounting bracket by screw, the one end of mounting bracket far from supporting rack is equipped with control-rod,
The bottom of control-rod is equipped with manipulator, is mounted by means of screws with bottom plate at the top of pedestal, the top surface of bottom plate is equipped with fixation
Frame, fixed frame are placed vertically, and the side of fixed frame close to supporting rack is equipped with horizontal mounting plate, are equipped with and are turned on mounting plate
The center of disk, turntable is inserted with shaft, and shaft is connected to the output end of the second motor, and activity is hinged in the disk of turntable
The other end of bar, motion bar is hinged with first connecting rod, and rotating bar is hinged in the plate face of mounting plate, and the other end of rotating bar is outside
Side extends, and the one end of rotating bar far from mounting plate is mounted by means of screws with slide block, and first connecting rod is far from motion bar
One end is articulated on the body of rod of rotating bar.
Preferably, first motor is placed in the bottom interior wall of the pedestal, the output end of first motor is connected by shaft
It is connected to external gear, the outside of external gear is equipped with internal gear, and external gear is engaged in and internal gear, and transfer is placed at the top of internal gear
Platform, and the top surface of internal gear is connected by trip bolt with the bottom surface of intermediate station.
Preferably, second connecting rod is hinged on the mounting plate, the other end of second connecting rod is articulated with the bar of first connecting rod
On body.
Preferably, the control-rod extends straight down, and control-rod is hydraulic telescopic rod.
Preferably, the bottom of the slide block opens up fluted, and the separation of groove be more than mounting bracket two sides it
Between distance, and there are gaps between the bottom groove of slide block and the side of mounting bracket.
Preferably, the external gear and internal gear are partial gear, and the gear teeth of external gear are equipped with one group, internal gear
The gear teeth be equipped with two groups, and the gear teeth of internal gear are located at the inner wall both sides of internal gear in symmetric arrays.
Preferably, the length of the motion bar is more than the length of first connecting rod.
The beneficial effects of the invention are as follows：
1, the rotation of first motor, to ensure the rotation between external gear and internal gear, due to the structure of internal gear, because
The rotation of this intermediate station has intermittent, gives manipulator time enough in this way to carry out grasping manipulation.
2, the rotation of the second motor drives turntable rotation, and during turntable rotates, motion bar acts on the first company
Bar is driven, it is ensured that first connecting rod periodically pushes rotating bar along with the support of second connecting rod.
3, first connecting rod pushes rotating bar, and the slide block in rotating bar periodically stirs supporting rack outward, whole in this way
The effect that body reaches is that manipulator periodically turns to the other side from side, and the product on intermediate station is moved to another
On production line, the present apparatus reduces manually-operated necessity, reduces cost of labor, and in the operating condition, greatly promoted
Working efficiency has practicability.
Description of the drawings
Fig. 1 is a kind of main structure diagram of the manipulator equipped with rotatable intermediate station proposed by the present invention；
Fig. 2 is a kind of mounting plate overlooking structure diagram of the manipulator equipped with rotatable intermediate station proposed by the present invention；
Fig. 3 is a kind of internal-external gear mounting structure signal of manipulator equipped with rotatable intermediate station proposed by the present invention
Figure；
Fig. 4 is that a kind of slide block control-rod mounting structure of the manipulator equipped with rotatable intermediate station proposed by the present invention shows
It is intended to.
In figure：1 pedestal, 2 first motors, 3 shafts, 4 external gears, 5 internal gears, 6 intermediate stations, 7 supporting racks, 8 mounting brackets, 9
Control-rod, 10 manipulators, 11 bottom plates, 12 fixed frames, 13 mounting plates, 14 turntables, 15 motion bars, 16 first connecting rods, 17 second connect
Bar, 18 rotating bars, 19 slide blocks, 20 second motors.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Referring to Fig.1-4, a kind of manipulator equipped with rotatable intermediate station, including pedestal 1 are welded with supporting rack on pedestal 1
7, supporting rack 7 is placed vertically, and the top of supporting rack 7 is fixed with mounting bracket 8 by screw, mounting bracket 8 far from supporting rack 7 one
End is equipped with control-rod 9, and the bottom of control-rod 9 is equipped with manipulator 10, and the top of pedestal 1 is mounted by means of screws with bottom plate
11, the top surface of bottom plate 11 is equipped with fixed frame 12, and fixed frame 12 is placed vertically, and fixed frame 12 is pacified close to the side of supporting rack 7
Equipped with horizontal mounting plate 13, turntable 14 is installed, the center of turntable 14 is inserted with shaft, and shaft is connected on mounting plate 13
The output end of second motor 20 is hinged with motion bar 15 in the disk of turntable 14, and the other end of motion bar 15 is hinged with the first company
Bar 16 is hinged with rotating bar 18 in the plate face of mounting plate 13, and the other end of rotating bar 18 extends outward, and rotating bar 18 is separate
One end of mounting plate 13 is mounted by means of screws with slide block 19, and the one end of first connecting rod 16 far from motion bar 15, which is articulated with, to be turned
On the body of rod of lever 18, first motor 2 is placed in the bottom interior wall of pedestal 1, the output end of first motor 2 is connected by shaft 3
It is connected to external gear 4, the outside of external gear 4 is equipped with internal gear 5, and external gear 4 is engaged in be placed with internal gear 5, the top of internal gear 5
There is intermediate station 6, and the top surface of internal gear 5 is connected by trip bolt with the bottom surface of intermediate station 6, is hinged on mounting plate 13
The other end of two connecting rods 17, second connecting rod 17 is articulated on the body of rod of first connecting rod 16, and control-rod 9 extends straight down, and is controlled
Bar 9 processed is hydraulic telescopic rod, and the bottom of slide block 19 opens up fluted, and the separation of groove is more than the two sides of mounting bracket 8
The distance between, and there are gap, external gear 4 and internal gears 5 between the bottom groove of slide block 19 and the side of mounting bracket 8
It is partial gear, and the gear teeth of external gear 4 are equipped with one group, the gear teeth of internal gear 5 are equipped with two groups, and the wheel of internal gear 5
For tooth position in the inner wall both sides of internal gear 5 in being symmetrically arranged, the length of motion bar 15 is more than the length of first connecting rod 16.
In the present embodiment, the rotation of first motor 2, to ensure the rotation between external gear 4 and internal gear 5, due to interior
The structure of gear 5, therefore the rotation of intermediate station 6 has intermittent, gives 10 time enough of manipulator in this way to carry out
Grasping manipulation, the rotation of the second motor 20 drive turntable 14 to rotate, and during turntable 14 rotates, motion bar 15 acts on
First connecting rod 16 is driven, it is ensured that first connecting rod 16 periodically pushes rotating bar 18, in turn along with the support of second connecting rod 17
Ensure that the slide block 19 in rotating bar 18 periodically stirs supporting rack 8 outward, the effect integrally reached in this way is manipulator
10 periodically turn to the other side from side, and the product on intermediate station 6 is moved to another production line.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (7)
1. a kind of manipulator equipped with rotatable intermediate station, including pedestal (1), which is characterized in that be welded on the pedestal (1)
Supporting rack (7), supporting rack (7) is placed vertically, and the top of supporting rack (7) is fixed with mounting bracket (8), mounting bracket by screw
(8) one end far from supporting rack (7) is equipped with control-rod (9), and the bottom of control-rod (9) is equipped with manipulator (10), pedestal (1)
Top is mounted by means of screws with bottom plate (11), and the top surface of bottom plate (11) is equipped with fixed frame (12), and fixed frame (12) is vertical
It places, and the side of fixed frame (12) close to supporting rack (7) is equipped with horizontal mounting plate (13), mounting plate is equipped on (13)
The center of turntable (14), turntable (14) is inserted with shaft, and shaft is connected to the output end of the second motor (20), turntable (14)
Motion bar (15) is hinged in disk, the other end of motion bar (15) is hinged with first connecting rod (16), the plate face of mounting plate (13)
On be hinged with rotating bar (18), the other end of rotating bar (18) extends outward, and rotating bar (18) is far from mounting plate (13)
One end is mounted by means of screws with slide block (19), and the one end of first connecting rod (16) far from motion bar (15) is articulated with rotating bar
(18) on the body of rod.
2. a kind of manipulator equipped with rotatable intermediate station according to claim 1, which is characterized in that the pedestal (1)
Bottom interior wall on be placed with first motor (2), the output end of first motor (2) is connected with external gear (4) by shaft (3),
The outside of external gear (4) is equipped with internal gear (5), and external gear (4), which is engaged in, to be placed with internal gear (5), internal gear at the top of (5)
Intermediate station (6), and the top surface of internal gear (5) is connected by trip bolt with the bottom surface of intermediate station (6).
3. a kind of manipulator equipped with rotatable intermediate station according to claim 1, which is characterized in that the mounting plate
(13) second connecting rod (17) is hinged on, the other end of second connecting rod (17) is articulated on the body of rod of first connecting rod (16).
4. a kind of manipulator equipped with rotatable intermediate station according to claim 1, which is characterized in that the control-rod
(9) extend straight down, and control-rod (9) is hydraulic telescopic rod.
5. a kind of manipulator equipped with rotatable intermediate station according to claim 1, which is characterized in that the slide block
(19) bottom opens up fluted, and the separation of groove is more than the distance between the two sides of mounting bracket (8), and slide block
(19) there are gaps between bottom groove and the side of mounting bracket (8).
6. a kind of manipulator equipped with rotatable intermediate station according to claim 1 or 2, which is characterized in that the external tooth
Wheel (4) is partial gear with internal gear (5), and the gear teeth of external gear (4) are equipped with one group, and the gear teeth of internal gear (5) are equipped with
Two groups, and the gear teeth of internal gear (5) are located at the inner wall both sides of internal gear (5) in symmetric arrays.
7. a kind of manipulator equipped with rotatable intermediate station according to claim 1, which is characterized in that the motion bar
(15) length is more than the length of first connecting rod (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810384707.5A CN108284438A (en) | 2018-04-26 | 2018-04-26 | A kind of manipulator equipped with rotatable intermediate station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810384707.5A CN108284438A (en) | 2018-04-26 | 2018-04-26 | A kind of manipulator equipped with rotatable intermediate station |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108284438A true CN108284438A (en) | 2018-07-17 |
Family
ID=62834667
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810384707.5A Pending CN108284438A (en) | 2018-04-26 | 2018-04-26 | A kind of manipulator equipped with rotatable intermediate station |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108284438A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108890255A (en) * | 2018-07-27 | 2018-11-27 | 丽水市智汇佳科技有限公司 | Bearing assembling device is used in automated production processing |
| CN108972513A (en) * | 2018-09-05 | 2018-12-11 | 浙江树人学院 | A kind of robot that rotation is carried |
| CN108972524A (en) * | 2018-07-25 | 2018-12-11 | 高梓祺 | Automatic conveying mechanical arm operating system and operating method based on liquid electric control |
| CN110859750A (en) * | 2019-11-07 | 2020-03-06 | 江苏省肿瘤医院 | Automatic dispensing machine for penicillin bottles for departments |
| CN113199272A (en) * | 2021-04-16 | 2021-08-03 | 安徽机电职业技术学院 | High-grade digit control machine tool that intelligent has portable rotatory arm lock |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE419518B (en) * | 1973-11-09 | 1981-08-10 | Boehringer Gmbh Geb | MANIPULATOR |
| CN103662808A (en) * | 2013-11-29 | 2014-03-26 | 重庆诚硕科技有限公司 | Crank slow-down swinging feeding mechanism |
| CN205599956U (en) * | 2016-05-11 | 2016-09-28 | 成都集合工业技术有限公司 | Utilize monodentate gear drive to realize eight hole flange machining's mechanism |
| CN205853706U (en) * | 2016-06-27 | 2017-01-04 | 海南秋硕佛珠集团有限公司 | A kind of feed mechanism of beads production engraving machine |
| CN107263453A (en) * | 2017-08-09 | 2017-10-20 | 成都航空职业技术学院 | A kind of multi-functional five shaft mechanicals arm work station |
| CN206633014U (en) * | 2017-03-29 | 2017-11-14 | 景德镇陶瓷大学 | A kind of drive mechanism of high stable type transition manipulator |
| CN207027503U (en) * | 2017-02-28 | 2018-02-23 | 湖南机电职业技术学院 | A kind of goods transfer robot |
-
2018
- 2018-04-26 CN CN201810384707.5A patent/CN108284438A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE419518B (en) * | 1973-11-09 | 1981-08-10 | Boehringer Gmbh Geb | MANIPULATOR |
| CN103662808A (en) * | 2013-11-29 | 2014-03-26 | 重庆诚硕科技有限公司 | Crank slow-down swinging feeding mechanism |
| CN205599956U (en) * | 2016-05-11 | 2016-09-28 | 成都集合工业技术有限公司 | Utilize monodentate gear drive to realize eight hole flange machining's mechanism |
| CN205853706U (en) * | 2016-06-27 | 2017-01-04 | 海南秋硕佛珠集团有限公司 | A kind of feed mechanism of beads production engraving machine |
| CN207027503U (en) * | 2017-02-28 | 2018-02-23 | 湖南机电职业技术学院 | A kind of goods transfer robot |
| CN206633014U (en) * | 2017-03-29 | 2017-11-14 | 景德镇陶瓷大学 | A kind of drive mechanism of high stable type transition manipulator |
| CN107263453A (en) * | 2017-08-09 | 2017-10-20 | 成都航空职业技术学院 | A kind of multi-functional five shaft mechanicals arm work station |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972524A (en) * | 2018-07-25 | 2018-12-11 | 高梓祺 | Automatic conveying mechanical arm operating system and operating method based on liquid electric control |
| CN108890255A (en) * | 2018-07-27 | 2018-11-27 | 丽水市智汇佳科技有限公司 | Bearing assembling device is used in automated production processing |
| CN108890255B (en) * | 2018-07-27 | 2023-12-15 | 广州市弘创精密机械设备有限公司 | Bearing assembly device for automatic production and processing |
| CN108972513A (en) * | 2018-09-05 | 2018-12-11 | 浙江树人学院 | A kind of robot that rotation is carried |
| CN110859750A (en) * | 2019-11-07 | 2020-03-06 | 江苏省肿瘤医院 | Automatic dispensing machine for penicillin bottles for departments |
| CN113199272A (en) * | 2021-04-16 | 2021-08-03 | 安徽机电职业技术学院 | High-grade digit control machine tool that intelligent has portable rotatory arm lock |
| CN113199272B (en) * | 2021-04-16 | 2022-04-15 | 安徽机电职业技术学院 | High-grade digit control machine tool that intelligent has portable rotatory arm lock |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180717 |