CN108297078A - A kind of Intelligent assembly manipulator - Google Patents
A kind of Intelligent assembly manipulator Download PDFInfo
- Publication number
- CN108297078A CN108297078A CN201810287125.5A CN201810287125A CN108297078A CN 108297078 A CN108297078 A CN 108297078A CN 201810287125 A CN201810287125 A CN 201810287125A CN 108297078 A CN108297078 A CN 108297078A
- Authority
- CN
- China
- Prior art keywords
- automatically controlled
- bar shaped
- swing arm
- fixedly connected
- bearing base
- 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- Withdrawn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
- 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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
Abstract
The invention discloses a kind of Intelligent assembly manipulator, including bar shaped bearing base, bar shaped bearing base upper surface is equipped with intelligent control grasping mechanism, and bar shaped bearing base lower surface is equipped with moving fixing mechanism.The invention has the advantages that a kind of grip convenient for both arms, gripping range is adjusted, convenient for carrying out rotation mixing to gripping article, various angles are gripped, the more convenient and stable device of installation.
Description
Technical field
The present invention relates to manipulator field, especially a kind of Intelligent assembly manipulator.
Background technology
Manipulator is exactly to imitate human arm, and the device of arm gripping operation is realized by controlling.
With scientific and technological continuous development, in order to improve production efficiency, also for artificial labor intensity is mitigated, in the factory
It can replace manually carrying using mechanical arm, although traditional mechanical arm flexibly grips, but usually European single armed carries out
Gripping, every time gripping can only grip one end of article, and for large-scale article, gripping is inconvenient, and some articles need
It is uniformly mixed before packaging, is usually all manually to complete, it is bigger for artificial intensity if article is heavier, and
And manually mixed effect is bad, it is uneven, therefore in order to solve these problems, transported also for more satisfaction and what is gripped wants
It asks, a kind of manipulator used in assembly of design is necessary.
Invention content
The purpose of the present invention is to solve the above problems, devise a kind of Intelligent assembly manipulator.
Realize above-mentioned purpose the technical scheme is that, a kind of Intelligent assembly manipulator, including bar shaped bearing base, institute
It states bar shaped bearing base upper surface and is equipped with intelligent control grasping mechanism, bar shaped bearing base lower surface is equipped with mobile fixed machine
Structure, the intelligent control grasping mechanism by be inlaid in bar shaped bearing base upper surface and the upward No.1 electric rotating machine of round end,
It is sleeved on and fixes chuck on No.1 electric rotating machine round end, be arranged in the automatically controlled swing arm for fixing chuck upper surface, be arranged in electricity
It controls the horizontal fixed plate on swing arm end face, be sleeved on the fixed frame at center and between automatically controlled swing arm in horizontal fixed plate
Frame is inlaid in horizontal fixed plate upper surface and positioned at one group of horizontal slide rail of fixed frame both sides, setting in each horizontal slide rail
On automatically controlled movable block, be fixedly connected at the both ends of horizontal fixed plate lower surface horizontal braces, be fixedly connected on each electricity
Control movable block side surface and be sleeved in horizontal fixed plate mobility framework, processing in each mobility framework upper surface and with institute
Bar shaped slot that corresponding horizontal braces match, the automatically controlled binodal for being fixedly connected on each automatically controlled movable block upper surface are swung
Arm, the supporting rack for being fixedly connected on each automatically controlled binodal swing arm upper surface, setting are in each supporting rack and round end is water
Flat No. two electric rotating machines, are sleeved on each fixed clip hand at the fixed clip hand being sleeved on each No. two electric rotating machine round ends
On cross-fixing arm, the U-shaped fixed frame that is fixedly connected on each automatically controlled binodal swing arm end face, processing it is solid in each U-shaped
Determine one group of circular through hole on frame side surface, be arranged on the outside of each U-shaped fixed frame and telescopic end passes through corresponding circular through hole
The telescopic cylinder that stretches into, the extruding fixed clip hand being sleeved on each telescopic cylinder telescopic end are fixedly connected on each U-shaped and fix
What the frictional layer on frame side surface collectively formed, the bar shaped bearing base side surface is embedded in controller, the controller and intelligence
Automatically controlled swing arm in grasping mechanism, automatically controlled movable block, No.1 electric rotating machine, automatically controlled binodal swing arm, No. two electric rotatings can be controlled
Machine and telescopic cylinder are electrically connected by conducting wire.
The moving fixing mechanism by be arranged below bar shaped bearing base bar shaped loading plate, be inlaid in bar shaped loading plate
The several groups folding shape sliding rail of upper surface, be arranged each folding shape sliding rail upper surface automatically controlled moving trolley, be fixedly connected on it is each
The electromagnet block of automatically controlled moving trolley upper surface is fixedly connected on bar shaped bearing base lower surface and is connected with electromagnet block
The iron plate that connects is fixedly connected on several folding shape support plates on bar shaped loading plate lower surface, is arranged in each folding shape support plate
What one group of foundation bolt on surface collectively formed, the controller and automatically controlled moving trolley and electromagnet in moving fixing mechanism
Block is electrically connected by conducting wire.
The longitudinal section of each cross-fixing arm is M shape.
Each automatically controlled binodal swing arm outer surface is fixedly connected with spray gun clamp hand, each spray gun clamp hand and institute
Corresponding automatically controlled binodal swing arm junction is all provided with universal joint.
The fixing screws being all provided on the surface of the fixed frame two opposite sides between one group and automatically controlled swing arm.
Be fixedly connected on the end face of each horizontal braces with corresponding mobility framework mutually overlapped limited block, often
A limited block side surface is equipped with the fixing screws between corresponding horizontal braces.
Each cross-fixing arm inner surface is fixedly connected with skid resistant course.
Each extruding fixed clip hand side surface is embedded in heating wires circle, and the controller passes through conducting wire and heating wires
Circle is electrically connected.
It is set with polygon protecting crust on each telescopic cylinder.
Commercial power interface is embedded at the bar shaped bearing base side surface free time, the controller passes through conducting wire and commercial power interface
It is electrically connected.
The Intelligent assembly manipulator made using technical scheme of the present invention, one kind are gripped convenient for both arms, adjustment gripping model
It encloses, convenient for carrying out rotation mixing to gripping article, various angles are gripped, the more convenient and stable device of installation.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of Intelligent assembly manipulator of the present invention；
Fig. 2 is a kind of partial top view of Intelligent assembly manipulator of the present invention；
Fig. 3 is horizontal fixed plate in a kind of Intelligent assembly manipulator of the present invention, fixed frame, horizontal slide rail, automatically controlled
Movable block, mobility framework and the automatically controlled matched partial side view of binodal swing arm；
Fig. 4 is that fixed clip hand, cross-fixing arm and skid resistant course match in a kind of Intelligent assembly manipulator of the present invention
Side view；
Fig. 5 be bar shaped loading plate in a kind of Intelligent assembly manipulator of the present invention, folding shape sliding rail, automatically controlled moving trolley and
The matched vertical view of electromagnet block；
In figure, 1, bar shaped bearing base；2, No.1 electric rotating machine；3, fixed chuck；4, automatically controlled swing arm；5, horizontal fixation
Plate；6, fixed frame；7, horizontal slide rail；8, automatically controlled movable block；9, horizontal braces；10, mobility framework；11, automatically controlled binodal pendulum
Swing arm；12, supporting rack；13, No. two electric rotating machines；14, fixed clip hand；15, cross-fixing arm；16, U-shaped fixed frame；17, it stretches
Cylinder；18, frictional layer；19, controller；20, bar shaped loading plate；21, shape sliding rail is rolled over；22, automatically controlled moving trolley；23, electromagnetism is inhaled
Iron block；24, iron plate；25, shape support plate is rolled over；26, foundation bolt；27, spray gun clamp hand；28, universal joint；29, fixing screws；30、
Limited block；31, fixing screws；32, skid resistant course；33, heating wires circle；34, polygon protecting crust；35, commercial power interface；36, it squeezes
Fixed clip hand.
Specific implementation mode
The present invention is specifically described below in conjunction with the accompanying drawings, as shown in Figs. 1-5, a kind of Intelligent assembly manipulator, including
Bar shaped bearing base 1,1 upper surface of bar shaped bearing base is equipped with intelligent control grasping mechanism, under the bar shaped bearing base 1
Surface is equipped with moving fixing mechanism, and the intelligent control grasping mechanism is by being inlaid in 1 upper surface of bar shaped bearing base and round end
Upward No.1 electric rotating machine 2 is sleeved on 2 round end of No.1 electric rotating machine and fixes chuck 3, setting in fixed 3 upper table of chuck
The automatically controlled swing arm 4 in face, is sleeved on center in horizontal fixed plate 5 at the horizontal fixed plate 5 being arranged on 4 end face of automatically controlled swing arm
Place and fixed frame 6 between automatically controlled swing arm 4 are inlaid in 5 upper surface of horizontal fixed plate and positioned at 6 both sides of fixed frame
One group of horizontal slide rail 7, is fixedly connected on 5 lower surface of horizontal fixed plate at the automatically controlled movable block 8 being arranged on each horizontal slide rail 7
Horizontal braces 9 at both ends are fixedly connected on each shifting automatically controlled movable block 8 side surface and be sleeved in horizontal fixed plate 5
Dynamic frame 10, is consolidated the bar shaped slot processed the upper surface in each mobility framework 10 and matched with corresponding horizontal braces 9
Surely it is connected to the automatically controlled binodal swing arm 11 of each 8 upper surface of automatically controlled movable block, is fixedly connected on each automatically controlled binodal swing arm
The supporting rack 12 of 11 upper surfaces is arranged in each supporting rack 12 and round end is No. two horizontal electric rotating machines 13, is sleeved on
Fixed clip hand 14 on 13 round end of each No. two electric rotating machines, the cross-fixing arm 15 being sleeved on each fixed clip hand 14,
U-shaped fixed frame 16 on each automatically controlled 11 end face of binodal swing arm, processing are fixedly connected in each 16 side surface of U-shaped fixed frame
On one group of circular through hole, be arranged and stretched by what corresponding circular through hole stretched into the outside of each U-shaped fixed frame 16 and telescopic end
Contracting cylinder 17, is fixedly connected on each U-shaped fixed frame at the extruding fixed clip hand 36 being sleeved on 17 telescopic end of each telescopic cylinder
What the frictional layer 18 on 16 side surfaces collectively formed, 1 side surface of the bar shaped bearing base is embedded in controller 19, the controller
19 with intelligent control grasping mechanism in automatically controlled swing arm 4, automatically controlled movable block 8, No.1 electric rotating machine 2, automatically controlled binodal swing arm 11,
No. two electric rotating machines 13 and telescopic cylinder 17 are electrically connected by conducting wire；The moving fixing mechanism is held by being arranged in bar shaped
It carries the bar shaped loading plate 20 of 1 lower section of pedestal, the several groups folding shape sliding rail 21 for being inlaid in 20 upper surface of bar shaped loading plate, be arranged every
The automatically controlled moving trolley 22 of a 21 upper surface of folding shape sliding rail, the electromagnetism for being fixedly connected on each 22 upper surface of automatically controlled moving trolley are inhaled
Iron block 23, is fixedly connected on the iron plate 24 for being fixedly connected on 1 lower surface of bar shaped bearing base and being connected with electromagnet block 23
Several are rolled over shape support plates 25, one group of lower margin in each 25 upper surface of folding shape support plate are arranged on 20 lower surface of bar shaped loading plate
What bolt 26 collectively formed, the controller 19 passes through with automatically controlled moving trolley 22 in moving fixing mechanism and electromagnet block 23
Conducting wire is electrically connected；The longitudinal section of each cross-fixing arm 15 is M shape；Each automatically controlled binodal swing arm
11 outer surfaces are fixedly connected with spray gun clamp hand 27, and each spray gun clamp hand 27 is connect with corresponding automatically controlled binodal swing arm 11
Place is all provided with universal joint 28；The fixing screws being all provided on 6 two opposite sides surface of the fixed frame between one group and automatically controlled swing arm 4
29；Be fixedly connected on the end face of each horizontal braces 9 with 10 phase of corresponding mobility framework overlapped limited block 30, often
A 30 side surface of the limited block is equipped with the fixing screws 31 between corresponding horizontal braces 9；Each cross-fixing
15 inner surface of arm is fixedly connected with skid resistant course 32；Each 36 side surface of extruding fixed clip hand is embedded in heating wires circle 33,
The controller 19 is electrically connected by conducting wire and heating wires circle 33；It is set with polygon protection on each telescopic cylinder 17
Shell 34；Commercial power interface 35 is embedded at the 1 side surface free time of the bar shaped bearing base, the controller 19 is connect by conducting wire and alternating current
Mouth 35 is electrically connected.
The characteristics of the present embodiment, is, when using this device, can be mounted on this device on specified position, be located at item
The folding shape support plate 25 of 20 lower surface of shape loading plate is located at convenient for the surface of overlapped installation site in each folding shape support plate 25
One group of foundation bolt 26 on surface is convenient for the place with installation to be fixed well, and also allows for dismantling, if carrying out gripping article, pass through
Control so that one group of telescopic cylinder 17 in each U-shaped fixed frame 16 carries out appropriate flexible so that is located at each telescopic cylinder
Extruding fixed clip hand 36 on 17 end faces grips article, due to being one group of U-shaped fixed frame 16, convenient for gripping article
Both ends at, if the end face that article is not raised, the frictional layer 18 being located on each 16 side surface of U-shaped fixed frame is convenient for object
Product are gripped, gripping also compare it is anti-skidding, wherein each U-shaped fixed frame 16 by automatically controlled binodal swing arm 11 with it is corresponding
Automatically controlled movable block 8 be attached, wherein each automatically controlled movable block 8 passes through corresponding horizontal slide rail 7 and horizontal fixed plate 5
Side surface is attached, wherein by control, each automatically controlled movable block 8 can be moved on corresponding horizontal slide rail 7,
Convenient for driving automatically controlled binodal swing arm 11 to be adjusted gripping range, wherein each automatically controlled binodal swing arm 11 is convenient for passing through control
Scheduled swing and bending are carried out, horizontal fixed plate 5 is attached by automatically controlled swing arm 4 and fixed chuck 3, is located at horizontal solid
Fixed frame 6 at 5 center of fixed board is convenient for the stabilization connected between automatically controlled swing arm 4, wherein automatically controlled swing arm 4 can pass through
Control is swung and is bent, wherein fixed chuck 3 is connected by No.1 electric rotating machine 2 and 1 upper surface of bar shaped bearing base
It connects, wherein passing through control so that No.1 electric rotating machine 2 is rotated, and can be rotated when gripping article, or swing
Angle adapts to different working conditions, wherein each automatically controlled movable block 8 on corresponding horizontal slide rail 7 when being moved, band
Corresponding mobility framework 10 is moved to be slided in horizontal fixed plate 5, be located at 5 rear surface of horizontal fixed plate and with each movement
10 corresponding horizontal braces 9 of frame are convenient for limiting the moving stability of each mobility framework 10, prevent from deviating, wherein such as
Fruit is wanted to be uniformly mixed the article of gripping, can utilize the cross-fixing arm 15 between one group of automatically controlled binodal swing arm 11
It is gripped, wherein each cross-fixing arm 15 passes through corresponding fixed clip hand 14 and No. two corresponding electric rotating machines 13
Be attached, each No. two electric rotating machines 13 by corresponding supporting rack 12 and corresponding automatically controlled binodal swing arm 11 into
Row connection, passes through control so that each No. two electric rotating machines 13 work, can by fixed clip hand 14 and cross-fixing arm 15
So that article carries out rotation mixing, wherein the controller 19 on 1 side surface of bar shaped bearing base is convenient for whole operation
Preprogramming setting is carried out, one kind grips convenient for both arms, adjustment gripping range, convenient for carrying out rotation mixing to gripping article, respectively
Kind angle is gripped, the more convenient and stable device of installation.
In the present embodiment, two motor drivers, a relay, controller are installed first at the present apparatus free time
19 model MN3007, by eight leading-out terminals of the model controller 19 by conducting wire respectively with two motor drivers,
One relay, automatically controlled movable block 8, automatically controlled binodal swing arm 11, automatically controlled moving trolley 22, electromagnet block 23 and heating wires
Two motor drivers are being passed through conducting wire and No.1 electric rotating machine 2 and No. two rotations by the input terminal connection of circle 33, those skilled in the art
The terminals of rotating motor 13 connect, while a relay being connect with the solenoid valve that telescopic cylinder 19 carries, by commercial power interface
Output end at 35 is attached by the power connection end of conducting wire and controller 19.It is complete after those skilled in the art are by controller programming
It can control the job order of each electrical part, concrete operating principle as follows entirely：When using this device, this device can be mounted on
On specified position, the folding shape support plate 25 for being located at 20 lower surface of bar shaped loading plate is convenient for the surface of overlapped installation site, position
One group of foundation bolt 26 in each 25 upper surface of folding shape support plate is convenient for the place with installation to be fixed well, and also allows for dismantling,
If carrying out gripping article, pass through control so that one group of telescopic cylinder 17 in each U-shaped fixed frame 16 carries out appropriate stretch
Contracting so that the extruding fixed clip hand 36 on 17 end face of each telescopic cylinder grips article, due to being that one group of U-shaped is solid
Determine frame 16, thus convenient for the both ends of gripping article at, if the not no raised end face of article, is located at each 16 side of U-shaped fixed frame
Frictional layer 18 on surface convenient for being gripped to article, gripping also compare it is anti-skidding, wherein each U-shaped fixed frame 16 passes through
Automatically controlled binodal swing arm 11 is attached with corresponding automatically controlled movable block 8, wherein each automatically controlled movable block 8 is by corresponding
Horizontal slide rail 7 be attached with 5 side surface of horizontal fixed plate, wherein by control, each automatically controlled movable block 8 can pair
It is moved on the horizontal slide rail 7 answered, convenient for driving automatically controlled binodal swing arm 11 to be adjusted gripping range, wherein each automatically controlled
For binodal swing arm 11 convenient for carrying out scheduled swing and bending by controlling, horizontal fixed plate 5 is by automatically controlled swing arm 4 and fixes
Chuck 3 is attached, and the fixed frame 6 at 5 center of horizontal fixed plate is steady convenient for being connected between automatically controlled swing arm 4
It is fixed, wherein automatically controlled swing arm 4 can be swung and be bent by control, wherein fixed chuck 3 by No.1 electric rotating machine 2 with
1 upper surface of bar shaped bearing base is attached, wherein passing through control so that No.1 electric rotating machine 2 is rotated, and can to press from both sides
It is rotated when taking article or swing angle, adapts to different working conditions, wherein each automatically controlled movable block 8 is corresponding
Horizontal slide rail 7 on when being moved, drive corresponding mobility framework 10 to be slided in horizontal fixed plate 5, be located at cross
It sets 5 rear surface of fixed plate and horizontal braces 9 corresponding with each mobility framework 10 is convenient for limiting each mobility framework 10
The moving stability, prevent from deviating, wherein if it is intended to the article to gripping is uniformly mixed, can utilize one group it is automatically controlled double
Cross-fixing arm 15 between section swing arm 11 is gripped, wherein each cross-fixing arm 15 passes through corresponding geometrical clamp
Hand 14 is attached with No. two corresponding electric rotating machines 13, and each No. two electric rotating machines 13 pass through corresponding supporting rack 12
It is attached with corresponding automatically controlled binodal swing arm 11, passes through control so that each No. two electric rotating machines 13 work, and lead to
Crossing fixed clip hand 14 and cross-fixing arm 15 can make article carry out rotation mixing, wherein being located at 1 side table of bar shaped bearing base
Controller 19 on face is convenient for carrying out preprogramming setting to whole operation, wherein the iron plate 24 of 1 lower surface of adjustment bearing base
Convenient for being attached with several electromagnet blocks 23, wherein each electromagnet block 23 passes through automatically controlled moving trolley 22 and position
Folding shape sliding rail 21 corresponding to 20 upper surface of bar shaped loading plate is attached, and by control, is put due to folding shape sliding rail 21
Position, therefore when being moved on side folding shape sliding rail 21, the electromagnet block 23 of the other side is switched off power supply, with iron
It is detached between plate 24, follows the movement of remaining electromagnet block 23 so that whole device carries out folding shape movement, if instead
To being then that progress is reversed rolls over shape movement, wherein when being worked, if during being gripped, needs the table of article
Face dust is cleaned, and can extraneous jet thrust be placed on the spray gun clamp hand on automatically controlled 11 side surface of binodal swing arm
In 27, wherein each spray gun clamp hand 27 is attached by universal joint 28 and corresponding automatically controlled binodal swing arm 11,
Convenient for activity jet, wherein made by being attached between fixing screws 29 and automatically controlled swing arm 4 on 6 side surface of fixed frame
Must connect it is more stable, wherein limited block 30 on 7 end face of each horizontal slide rail is convenient for the corresponding automatically controlled movable block of limitation 8
Moving range, wherein each limited block 30 is between fixing screws 31 and corresponding horizontal slide rail 7 by being attached,
It is anti-sliding stop to be wherein located at the skid resistant course 32 on each 15 inner surface of cross-fixing arm convenient for gripping article so that gripping can
It leans on, wherein being convenient for carrying out gripping sizing to article positioned at each heating wires circle 33 squeezed on 36 side surface of fixed clip hand
When increase temperature around sizing so that convenient for sizing, wherein polygon anti-on 17 side surface of each telescopic cylinder
Protective case 34 is located at the commercial power interface 35 on 1 side surface of bar shaped bearing base and is convenient at work convenient for protection telescopic cylinder 17,
Power on, power on to this device, wherein being all made of one piece inside the electric controlled sliding motion block 8 and automatically controlled moving trolley 22
Eight AT89S52 drive special chip group as control core power source, using integrated micro-step motor.
Above-mentioned technical proposal only embodies the optimal technical scheme of technical solution of the present invention, those skilled in the art
The principle of the present invention is embodied to some variations that some of which part may be made, belongs to the scope of protection of the present invention it
It is interior.
Claims (10)
1. a kind of Intelligent assembly manipulator, including bar shaped bearing base (1), which is characterized in that on the bar shaped bearing base (1)
Surface is equipped with intelligent control grasping mechanism, and bar shaped bearing base (1) lower surface is equipped with moving fixing mechanism, the intelligence control
Grasping mechanism processed is by being inlaid in bar shaped bearing base (1) upper surface and the upward No.1 electric rotating machine (2) of round end, being sleeved on one
Automatically controlled swing arm (4) in fixed chuck (3) upper surface of chuck (3), setting, setting are fixed on number electric rotating machine (2) round end
Horizontal fixed plate (5) on automatically controlled swing arm (4) end face, be sleeved in horizontal fixed plate (5) at center and with automatically controlled swing
Fixed frame (6) between arm (4) is inlaid in horizontal fixed plate (5) upper surface and one group of water positioned at fixed frame (6) both sides
Smooth rail (7), is fixedly connected on horizontal fixed plate (5) following table at the automatically controlled movable block (8) being arranged on each horizontal slide rail (7)
Horizontal braces (9) at the both ends of face are fixedly connected on each automatically controlled movable block (8) side surface and are sleeved on horizontal fixed plate
(5) mobility framework (10) on, processing the interior upper surface of each mobility framework (10) and with corresponding horizontal braces (9) phase
The bar shaped slot matched, is fixedly connected on the automatically controlled binodal swing arm (11) for being fixedly connected on each automatically controlled movable block (8) upper surface
The supporting rack (12) of each automatically controlled binodal swing arm (11) upper surface, setting is in each supporting rack (12) and round end is level
No. two electric rotating machines (13), be sleeved on each No. two electric rotating machines (13) round end fixed clip hand (14), be sleeved on it is every
Cross-fixing arm (15) on a fixed clip hand (14), the U-shaped being fixedly connected on each automatically controlled binodal swing arm (11) end face
Fixed frame (16), is arranged in each U-shaped fixed frame the one group of circular through hole processed on each U-shaped fixed frame (16) side surface
(16) outside and telescopic end are stretched by corresponding circular through hole telescopic cylinder (17) is sleeved on each telescopic cylinder (17) and stretches
Extruding fixed clip hand (36) on contracting end, the frictional layer (18) being fixedly connected on each U-shaped fixed frame (16) side surface are common
It constitutes, bar shaped bearing base (1) side surface is embedded in controller (19), the controller (19) and intelligent control gripper
Automatically controlled swing arm (4), automatically controlled movable block (8), No.1 electric rotating machine (2), automatically controlled binodal swing arm (11), No. two electric rotatings in structure
Machine (13) and telescopic cylinder (17) are electrically connected by conducting wire.
2. a kind of Intelligent assembly manipulator according to claim 1, which is characterized in that the moving fixing mechanism is by being arranged
Bar shaped loading plate (20) below bar shaped bearing base (1), the several groups folding shape for being inlaid in bar shaped loading plate (20) upper surface
Sliding rail (21) is arranged in each automatically controlled moving trolley (22) for rolling over shape sliding rail (21) upper surface, is fixedly connected on each electric controlled sliding
The electromagnet block (23) of dynamic trolley (22) upper surface is fixedly connected on bar shaped bearing base (1) lower surface and and electromagnet
Iron plate (24) that block (23) is connected, be fixedly connected on several folding shape support plates (25) on bar shaped loading plate (20) lower surface,
It is arranged what one group of foundation bolt (26) in each folding shape support plate (25) upper surface collectively formed, the controller (19) and shifting
Automatically controlled moving trolley (22) and electromagnet block (23) are electrically connected by conducting wire in dynamic fixed mechanism.
3. a kind of Intelligent assembly manipulator according to claim 1, which is characterized in that each cross-fixing arm (15)
Longitudinal section be M shape.
4. a kind of Intelligent assembly manipulator according to claim 1, which is characterized in that each automatically controlled binodal swing arm
(11) outer surface is fixedly connected with spray gun clamp hand (27), each spray gun clamp hand (27) and corresponding automatically controlled binodal swing arm
(11) junction is all provided with universal joint (28).
5. a kind of Intelligent assembly manipulator according to claim 1, which is characterized in that the fixed frame (6) two is opposite
The fixing screws (29) being all provided on side surface between one group and automatically controlled swing arm (4).
6. a kind of Intelligent assembly manipulator according to claim 1, which is characterized in that each horizontal braces (9)
End face on be fixedly connected with and corresponding mobility framework (10) mutually overlapped limited block (30), each limited block (30) side
Surface is equipped with the fixing screws (31) between corresponding horizontal braces (9).
7. a kind of Intelligent assembly manipulator according to claim 1, which is characterized in that each cross-fixing arm (15)
Inner surface is fixedly connected with skid resistant course (32).
8. a kind of Intelligent assembly manipulator according to claim 1, which is characterized in that each extruding fixed clip hand
(36) side surface is embedded in heating wires circle (33), and the controller (19) is electrically connected by conducting wire and heating wires circle (33).
9. a kind of Intelligent assembly manipulator according to claim 1, which is characterized in that on each telescopic cylinder (17)
It is set with polygon protecting crust (34).
10. a kind of Intelligent assembly manipulator according to claim 1, which is characterized in that bar shaped bearing base (1) side
Commercial power interface (35) is embedded at the free time of surface, the controller (19) is electrically connected by conducting wire and commercial power interface (35).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810287125.5A CN108297078A (en) | 2018-04-03 | 2018-04-03 | A kind of Intelligent assembly manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810287125.5A CN108297078A (en) | 2018-04-03 | 2018-04-03 | A kind of Intelligent assembly manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108297078A true CN108297078A (en) | 2018-07-20 |
Family
ID=62846819
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810287125.5A Withdrawn CN108297078A (en) | 2018-04-03 | 2018-04-03 | A kind of Intelligent assembly manipulator |
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| Country | Link |
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| CN (1) | CN108297078A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048849A (en) * | 2018-10-18 | 2018-12-21 | 周桂林 | Manipulator is used in a kind of handling |
| CN109969947A (en) * | 2019-03-21 | 2019-07-05 | 合肥市春华起重机械有限公司 | A kind of metallurgy with refrigerating thermal-insulation function is hung |
| CN110000754A (en) * | 2019-03-22 | 2019-07-12 | 广东科技学院 | A kind of manipulator controller |
| CN111697471A (en) * | 2020-07-06 | 2020-09-22 | 永康串行电子有限公司 | Automatic air switch device of changing of electric shock prevention |
| CN114800446A (en) * | 2022-04-12 | 2022-07-29 | 苏州迅亚自动化控制技术有限公司 | Industrial robot with quick assembling and disassembling function of mechanical arm |
-
2018
- 2018-04-03 CN CN201810287125.5A patent/CN108297078A/en not_active Withdrawn
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048849A (en) * | 2018-10-18 | 2018-12-21 | 周桂林 | Manipulator is used in a kind of handling |
| CN109048849B (en) * | 2018-10-18 | 2021-11-23 | 义乌市旻具五金工具有限公司 | Manipulator for loading and unloading |
| CN109969947A (en) * | 2019-03-21 | 2019-07-05 | 合肥市春华起重机械有限公司 | A kind of metallurgy with refrigerating thermal-insulation function is hung |
| CN110000754A (en) * | 2019-03-22 | 2019-07-12 | 广东科技学院 | A kind of manipulator controller |
| CN110000754B (en) * | 2019-03-22 | 2021-11-23 | 广东科技学院 | Manipulator control device |
| CN111697471A (en) * | 2020-07-06 | 2020-09-22 | 永康串行电子有限公司 | Automatic air switch device of changing of electric shock prevention |
| CN114800446A (en) * | 2022-04-12 | 2022-07-29 | 苏州迅亚自动化控制技术有限公司 | Industrial robot with quick assembling and disassembling function of mechanical arm |
| CN114800446B (en) * | 2022-04-12 | 2023-08-01 | 苏州迅亚自动化控制技术有限公司 | Industrial robot with mechanical arm quick assembly and disassembly functions |
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Application publication date: 20180720 |