CN108393934A - A kind of puma manipulator of automated production for reflector - Google Patents
A kind of puma manipulator of automated production for reflector Download PDFInfo
- Publication number
- CN108393934A CN108393934A CN201810147513.3A CN201810147513A CN108393934A CN 108393934 A CN108393934 A CN 108393934A CN 201810147513 A CN201810147513 A CN 201810147513A CN 108393934 A CN108393934 A CN 108393934A
- Authority
- CN
- China
- Prior art keywords
- plate
- spring
- movable
- fixed seat
- left end
- 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
- 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
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
Abstract
The invention discloses a kind of puma manipulators of the automated production for reflector,Its structure includes close to starter,Firm banking,Rotation seat,First oversheath,Mechanical activity arm,Second oversheath,Second movable axis,Outrigger shaft,Process arm,Processing head,The left side of firm banking is mechanically connected to close to starter,Rotation seat is fixed on the top of firm banking and is used and is flexibly connected by bearing,First oversheath sets that there are two by the bottom that is fastened on mechanical activity arm left and right ends,The bottom of mechanical activity arm is flexibly connected with the first oversheath,The present invention by equipped with close to starter,The close of reflector raw material can be sensed by way of Mechanical Contact,By mechanical hand starting after by magnetic absorption,Manipulator is set just to work after being collided,Reduce the possibility of error processing,And other objects close to when will not be acted,Identification is higher.
Description
Technical field
The present invention is a kind of puma manipulator of the automated production for reflector, belongs to puma manipulator field.
Background technology
Manipulator is a kind of certain holding functions that can imitate human hand and arm, to press fixed routine crawl, carry object
Or the automatic pilot of operation instrument.Feature is that various expected operations can be completed by programming, on construction and performance
Have the advantage of people and robotics respectively concurrently.
But the equipment of the prior art is incuded when reflector is transferred to the lower section of manipulator by infrared induction
To being just processed, when the hand of people close to when can equally be sensed, cause to accidentally injure, safety is poor, and discrimination
Spend poor, intelligence degree is low.
Invention content
In view of the deficienciess of the prior art, it is an object of the present invention to provide a kind of intelligence of the automated production for reflector
Energy manipulator, is the quilt when reflector is transferred to the lower section of manipulator by infrared induction with the equipment for solving the prior art
Sense and be just processed, when the hand of people close to when can equally be sensed, cause to accidentally injure, safety is poor, and
Discrimination degree is poor, the low problem of intelligence degree.
To achieve the goals above, the present invention is to realize by the following technical solutions：It is a kind of for reflector from
The puma manipulator of dynamic metaplasia production, structure include living close to starter, firm banking, rotation seat, the first oversheath, machinery
Swing arm, the second oversheath, the second movable axis, outrigger shaft, process arm, processing head, it is described to be mechanically connected to admittedly close to starter
Determine the left side of pedestal, the rotation seat is fixed on the top of firm banking and is used and is flexibly connected by bearing, and described first
Oversheath is set there are two by the bottom that is fastened on mechanical activity arm left and right ends, the bottom of the mechanical activity arm and the
One oversheath is flexibly connected, and second oversheath sets there are two and is installed in the left and right of mechanical activity arm, the second movable axis
Both ends, second movable axis are connected to the upper left corner of mechanical activity arm by bearing mechanical, and the outrigger shaft is vertically fixed on
The left end of second movable axis and using being welded to connect, it is total that the process arm is horizontally fixed on the left side of outrigger shaft and axle center
Line, the process arm are flexibly connected with outrigger shaft, and the processing head is sequentially connected in the left side of process arm, and close start fills
It sets outside by magnetic absorption device, spring push-pull device, movable wraping plate structure, sliding toothed plate device, pulley pushing mechanism, tempering
Shell, oblique pushing meanss, jacking apparatus, hydraulic transmission composition, the magnetic absorption device installation is in tempering enclosure
The lower left corner and weld together with the left end of firm banking, the bottom of the spring push-pull device is right with magnetic absorption device
The bottom mechanical at end connects, and the activity wraping plate structure is installed in the left side of spring push-pull device and using flexible connection, institute
The left end and the left end of tempering enclosure for stating sliding toothed plate device weld together, the bottom of the sliding toothed plate device and work
The right end of the top movable connection of dynamic wraping plate structure, the left end and sliding toothed plate device of the pulley pushing mechanism intermeshes,
The bottom of the pulley pushing mechanism is flexibly connected with the top of hydraulic transmission left end, the hydraulic transmission right end
Top and the bottom end of jacking apparatus are mechanically connected, and the top of the jacking apparatus and the bottom of oblique pushing meanss are welded on one
It rises, the top of tempering enclosure is fitted at the top of the oblique pushing meanss.
Further, the magnetic absorption device by jointing plate, magnetic adsorbing block, hinge, the first telescopic rod, sliding shoe,
Threaded rod, raise plate, catch bar, the second telescopic rod composition, the jointing plate be fitted in the lower left corner of tempering enclosure and
Using flexible connection, the magnetic adsorbing block is horizontally fixed on the left side of jointing plate and using being welded to connect, and the hinge is cut with scissors
It is connected on the right side of jointing plate, the bottom of first telescopic rod is hinged on the upper left corner of hinge in 45 degree of angles, and described first
The top of telescopic rod and the left end of upper end sliding shoe weld together, and the sliding shoe sets there are two and is threaded in respectively
The upper and lower ends of screw thread rod outer surface, the top of second telescopic rod in 45 degree of angles be hinged on hinge the lower right corner and
Mutually symmetrical with the first telescopic rod, the bottom of second telescopic rod is welded on the left side of the sliding shoe of lower end, and described first stretches
Contracting bar, the second telescopic rod right half part with raise the left end of plate by screw together with, the catch bar set there are two and
It is vertically welded in the right end for raising plate.
Further, the spring push-pull device is by arc spring track, compressible spring, passive lower raising plate, elasticity
Spring resets connecting spring, passive upper raising plate composition, and the arc spring track sets there are two and is installed in catch bar
Right side, the compressible spring are installed in the inside of arc spring track, the top of the compressible spring and passive lower jacking
Weld together at the top of plate, the left end of the compressible spring is flexibly connected with catch bar, there are two the elastomeric spring is set
And it is vertically fixed on the top of passive lower raising plate, is welded at the top of the bottom of the passive upper raising plate and elastomeric spring
It is together and parallel to each other with passive lower raising plate.
Further, the movable wraping plate structure is by hinge axis, the first movable plate, L-type fixed seat, roller fixing base, rolling
Wheel, the second movable plate composition, the hinge axis are installed in the top of L-type fixed seat, and the hinge axis is in the first movable plate
The center in portion, the right end of first movable plate bottom and resetting weld together at the top of connecting spring, the L-type fixed seat
The stage casing of left end and tempering enclosure left end weld together, the roller fixing base glue connection is at L-type fixed seat end
Stage casing, the idler wheel are movably connected in the top of roller fixing base, and the idler wheel is installed in the center inside the second movable plate simultaneously
And using flexible connection, second movable plate and roller fixing base are orthogonal.
Further, the sliding toothed plate device is by pulley fixed seat, vertical gullet plate, embedded pulley, rack, first
Gear, driven wheel, linkage belt composition, the pulley fixed seat be mounted on L-type fixed seat top and in tempering shell
The left end in portion welds together, and the embedded pulley sets there are two and is slidably connected with the track inside pulley fixed seat,
The embedded pulley is fixed on the left end of vertical gullet plate by connecting shaft, and the vertical gullet plate is installed in the second movable plate
Top, the rack welding on the right side of vertical gullet plate, the first gear level be installed in the right side of rack and mutually
It is meshed, the driven wheel is mechanically connected to the inside of first gear, and the driven wheel pushes machine by the belt that links with pulley
Structure is sequentially connected.
Further, the pulley pushing mechanism is by coupled wheel, the first small transfer wheel, connecting plate, the second small transfer wheel,
One section of pushing handle, shaft end fixed seat, second segment pushing handle, swing arm, sliding ball, inner groovy composition, the coupled wheel pass through connection
Dynamic belt is sequentially connected with driven wheel, and the first small transmission wheel mechanical is connected to the axle center inside coupled wheel, the connecting plate
It is welded on the right side of the first small transfer wheel, the second small transfer wheel is embedded in the right end inside connecting plate and is connected using activity
It connects, the first segment pushing handle is welded on the right end of connecting plate bottom, and the second segment pushing handle is welded on first segment and pushes away vertically
It moves the lower section of handle and on same straight line, the top and the bottom of second segment pushing handle of the sliding ball welds together,
The shaft end fixed seat is installed in the top of the first movable plate and the lower right corner positioned at first gear, the left end of the swing arm
Hinged with the fixed seat of shaft end fixed seat right end bottom, the inner groovy is located at the stage casing of swing arm outer surface and is welded into one
Body, the sliding ball are flexibly connected with inner groovy.
Further, the oblique pushing meanss by pressing switch, oblique fixed seat, oblique gullet plate, second gear, turn
Driving wheel, connecting rod composition, the pressing switch are installed in the right side of the second small transfer wheel and mutual with the bottom of tempering enclosure
It fits, the oblique fixed seat is installed in the lower section of pressing switch, and the oblique gullet plate is installed in the right side of oblique fixed seat
Side, the second gear are installed in the right side of oblique gullet plate and intermesh, and the rotating wheel is sequentially connected in the second tooth
The lower end of wheel outer surface, top and the rotating wheel of the connecting rod weld together.
Further, the jacking apparatus is made of jacking block, limit track, spring movable block, hydraulic pressure lift bar, described
The bottom at the top and connecting rod that jack block welds together, and one is fitted at the top of the bottom of the jacking block and spring movable block
It rises, the spring movable block is installed in the groove of limit track inside center, right end and the tempering shell of the limit track
Internal right end welds together, and the left end of the limit track and the right end of hydraulic transmission weld together, the liquid
The bottom of the bottom and spring movable block of pressing lift lever welds together and orthogonal.
Further, the hydraulic transmission is connected by pressure dynamic plate, L-type hydraulic cylinder, T-type catch bar, vertical compression bar, bending
Bar, right fixed plate, left fixed plate composition, the L-type hydraulic cylinder are welded on the lower right corner of tempering enclosure, the pressure dynamic plate weldering
It is connected on the bottom of hydraulic pressure lift bar and mutually fits with the upper right corner inside L-type hydraulic cylinder, the T-type catch bar horizontal ends
Top is fixed on the top inside L-type hydraulic cylinder by connecting spring, and the vertical compression bar is installed in the top of L-type hydraulic cylinder simultaneously
And extend vertically through the connecting pin of bent connecting rod, the bent connecting rod set there are two and right end weld together with right fixed plate,
Weld together on the right side of the left end of the bent connecting rod and left fixed plate and parallel to each other with right fixed plate.
Advantageous effect
A kind of puma manipulator of automated production for reflector of the invention, when need to the raw material of reflector into
When row processing, magnetic reflector material close to when, due to there is a natural attraction between the sexes, magnetic adsorbing block can be sucked out a little, make
Jointing plate, hinge are sucked out a little, allow sliding shoe along threaded rod to intermediary movements, the first telescopic rod is elongated, plate will be raised
It releases, so that catch bar is moved right, compressible spring is compressed, compressible spring is made to release passive lower raising plate, press
Contracting elastomeric spring makes elastomeric spring that will passively upper raising plate jack, and passively upper raising plate compression resets connecting spring, by the first work
The right end of movable plate jacks up, and the center of the first movable plate is along hinge axis, and the left end of the first movable plate pushes, the first movable plate
Left end the right end of the second movable plate is pushed, allow the second movable plate to be rotated around idler wheel, make the left end of the second movable plate that will erect
Rip tooth plate tilts, and the embedded pulley of vertical gullet plate left end is made to be lifted up along pulley fixed seat, allows the tooth of its right end
Item drives first gear to rotate, and is engaged on driven wheel therein and also begins to be acted, and by linking, belt drives linkage
Wheel rotation, since the first small transfer wheel is at the center of coupled wheel, the first small transfer wheel also begins to rotate, and connecting plate is driven to do circumference
Movement, makes the second small transfer wheel be linked, and drives first segment pushing handle, second segment pushing handle downward actuation, allows the cunning of its bottom
Dynamic ball is movable in inner groovy, and swing arm is pressed downward, and swing arm is allowed to do centrifugal movement along shaft end fixed seat, and swing arm pushes
When vertical compression bar can be pushed, so that bent connecting rod is bent downwardly, T-type catch bar popped up, T-type catch bar squeeze L-type hydraulic cylinder
Internal hydraulic oil, pressure dynamic plate is up jacked, and pressure dynamic plate ejects hydraulic pressure lift bar, and spring movable block is popped up, and drives top
Rise block act upwards, so that connecting rod is folded, at the same rotating wheel along second gear do it is centripetal move, drive outside the second tooth
Oblique gullet plate oblique lifting, oblique gullet plate are slided along the direction of oblique fixed seat, are struck by wheel activity, second gear
The top of pressing switch, makes pressing switch pop up, and starts the switch inside firm banking, allows rotation seat, mechanical activity arm, second
Movable axis, outrigger shaft, process arm, processing head proceed by action, and process arm decline is processed workpiece, when processing is tied
Shu Hou, workpiece are transmitted away, and magnetic adsorbing block loses magnetic force rebound, and equipment runs out of steam, and all resets, waits for next subjob
It is close.
A kind of puma manipulator of automated production for reflector of the invention, by equipped with close to starter,
The close of reflector raw material can be sensed by way of Mechanical Contact, by mechanical hand starting after by magnetic absorption,
So that manipulator is just worked after being collided, reduces the possibility of error processing, and close in other objects
When will not be acted, identification is higher.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is a kind of structural schematic diagram of the puma manipulator of automated production for reflector of the invention.
Fig. 2 is structural schematic diagram of the present invention close to starter.
Fig. 3 is of the invention close to the detailed structural schematic diagram of starter.
Fig. 4 is structural schematic diagram of the present invention close to starter working condition.
In figure：Close to starter -1, firm banking -2, rotation seat -3, the first oversheath -4, mechanical activity arm -5,
Two oversheaths -6, the second movable axis -7, outrigger shaft -8, process arm -9, processing head -10, magnetic absorption device -11, spring push-pull
Device -12, movable wraping plate structure -13, sliding toothed plate device -14, pulley pushing mechanism -15, tempering shell -16, oblique promotion
Device -17, jacking apparatus -18, hydraulic transmission -19, jointing plate -111, magnetic adsorbing block -112, hinge -113, first stretch
Contracting bar -114, threaded rod -116, raises plate -117, catch bar -118, the second telescopic rod -119, arc spring at sliding shoe -115
Track -121, compressible spring -122, passive lower raising plate -123, elastomeric spring -124, reset connecting spring -125, it is passive on
Raising plate -126, hinge axis -131, the first movable plate -132, L-type fixed seat -133, roller fixing base -134, idler wheel -135,
Two movable plates -136, pulley fixed seat -141, vertical gullet plate -142, embedded pulley -143, rack -144, first gear -
145, driven wheel -146, linkage belt -147, coupled wheel -151, the first small transfer wheel -152, connecting plate -153, the second small transmission
Wheel -154, first segment pushing handle -155, shaft end fixed seat -156, second segment pushing handle -157, swing arm -158, sliding ball -
159, inner groovy -1510, pressing switch -171, oblique fixed seat -172, oblique gullet plate -173, second gear -174, rotation
Wheel -175, connecting rod -176, jacking block -181, limit track -182, spring movable block -183, hydraulic pressure lift bar -184, pressure dynamic plate -
191, L-type hydraulic cylinder -192, T-type catch bar -193, vertical compression bar -194, bent connecting rod -195, right fixed plate -196, left fixation
Plate -197.
Specific implementation mode
To make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, with reference to
Specific implementation mode, the present invention is further explained.
- Fig. 4 is please referred to Fig.1, the present invention provides a kind of puma manipulator of the automated production for reflector：Its structure
Including close to starter 1, firm banking 2, rotation seat 3, the first oversheath 4, mechanical activity arm 5, the second oversheath 6, second
Movable axis 7, outrigger shaft 8, process arm 9, processing head 10, the left side that firm banking 2 is mechanically connected to close to starter 1,
The rotation seat 3 is fixed on the top of firm banking 2 by bearing and using being flexibly connected, first oversheath 4 is equipped with
Two bottoms by being fastened on 5 left and right ends of mechanical activity arm, bottom and the first oversheath of the mechanical activity arm 5
4 flexible connections, second oversheath 6 set there are two and are installed in the left and right ends of mechanical activity arm 5, the second movable axis 7,
Second movable axis 7 is connected to the upper left corner of mechanical activity arm 5 by bearing mechanical, and the outrigger shaft 8 is vertically fixed on
The left end of two movable axis 7 and using being welded to connect, it is total that the process arm 9 is horizontally fixed on the left side of outrigger shaft 8 and axle center
Line, the process arm 9 are flexibly connected with outrigger shaft 8, and the processing head 10 is sequentially connected in the left side of process arm 9, described close
Starter 1 is pushed away by magnetic absorption device 11, spring push-pull device 12, movable wraping plate structure 13, sliding toothed plate device 14, pulley
Motivation structure 15, tempering shell 16, oblique pushing meanss 17, jacking apparatus 18, hydraulic transmission 19 form, the magnetic absorption
Device 11 is installed in the lower left corner inside tempering shell 16 and welds together with the left end of firm banking 2, and the spring pushes away
The bottom of drawing device 12 is connect with the bottom mechanical of 11 right end of magnetic absorption device, and the activity wraping plate structure 13 is installed in spring
The left side and use flexible connection, the left end of the sliding toothed plate device 14 and the left side inside tempering shell 16 of push-pull device at fixed 12
End welds together, and the bottom of the sliding toothed plate device 14 is connect with the top movable of movable wraping plate structure 13, the pulley
The left end of pushing mechanism 15 and the right end of sliding toothed plate device 14 intermesh, the bottom of the pulley pushing mechanism 15 and hydraulic pressure
The top of 19 left end of transmission device is flexibly connected, the top of 19 right end of the hydraulic transmission and the bottom end machine of jacking apparatus 18
Tool connects, and the top of the jacking apparatus 18 and the bottom of oblique pushing meanss 17 weld together, the oblique pushing meanss
17 top is fitted in the top inside tempering shell 16, and the magnetic absorption device 11 is by jointing plate 111, magnetic adsorbing block
112, hinge 113, the first telescopic rod 114, sliding shoe 115, threaded rod 116, raise plate 117, catch bar 118, the second telescopic rod
119 compositions, the jointing plate 111 are fitted in the lower left corner inside tempering shell 16 and using flexible connection, the magnetic suctions
Attached piece 112 left side for being horizontally fixed on jointing plate 111 and using being welded to connect, the hinge 113 is hinged on jointing plate 111
Right side, the bottom of first telescopic rod 114 are hinged on the upper left corner of hinge 113, first telescopic rod in 45 degree of angles
114 top and the left end of upper end sliding shoe 115 weld together, and the sliding shoe 115 is set there are two and screw thread connects respectively
The upper and lower ends of 116 outer surface of threaded rod are connected on, the top of second telescopic rod 119 is hinged on hinge in 45 degree of angles
113 lower right corner and mutually symmetrical with the first telescopic rod 114, the bottom of second telescopic rod 119 is welded on the cunning of lower end
The left side of motion block 115, first telescopic rod 114, the second telescopic rod 119 right half part pass through with the left end for raising plate 117
Together, the catch bar 118 sets there are two and is vertically welded in the right end for raising plate 117, the spring push-pull dress to screw
12 are set by arc spring track 121, compressible spring 122, passive lower raising plate 123, elastomeric spring 124, reset connecting spring
125, passively upper raising plate 126 forms, and the arc spring track 121 sets there are two and be installed in the right side of catch bar 118,
The compressible spring 122 is installed in the inside of arc spring track 121, the top of the compressible spring 122 with it is passive under
The top of raising plate 123 welds together, and the left end of the compressible spring 122 is flexibly connected with catch bar 118, the elasticity
Spring 124 sets there are two and is vertically fixed on the top of passive lower raising plate 123, the bottom of the passive upper raising plate 126
Weld together with the top of elastomeric spring 124 and parallel to each other with passive lower raising plate 123, the activity wraping plate structure 13
By hinge axis 131, the first movable plate 132, L-type fixed seat 133, roller fixing base 134, idler wheel 135,136 groups of the second movable plate
At the hinge axis 131 is installed in the top of L-type fixed seat 133, and the hinge axis 131 is inside the first movable plate 132
Center, the right end of 132 bottom of the first movable plate weld together with the top for resetting connecting spring 125, and the L-type is fixed
The stage casing of the left end and 16 inside left end of tempering shell of seat 133 welds together, and 134 glue connection of the roller fixing base is in L-type
The stage casing at 133 end of fixed seat, the idler wheel 135 are movably connected in the top of roller fixing base 134, and the idler wheel 135 is installed in
Center and use flexible connection, second movable plate 136 inside second movable plate 136 is mutual with roller fixing base 134
Vertically, the sliding toothed plate device 14 is by pulley fixed seat 141, vertical gullet plate 142, embedded pulley 143, rack 144,
One gear 145, driven wheel 146, linkage belt 147 form, and the pulley fixed seat 141 is mounted on the top of L-type fixed seat 133
And weld together with the left end inside tempering shell 16, the embedded pulley 143 sets there are two and fixed with pulley
Track inside seat 141 is slidably connected, and the embedded pulley 143 is fixed on the left end of vertical gullet plate 142 by connecting shaft,
The vertical gullet plate 142 is installed in the top of the second movable plate 136, and the rack 144 is welded on the right side of vertical gullet plate 142
Side, 145 level of the first gear are installed in the right side of rack 144 and intermesh, and the driven wheel 146 is mechanically connected to
The inside of first gear 145, the driven wheel 146 are sequentially connected by the belt 147 that links with pulley pushing mechanism 15, the cunning
Pushing mechanism 15 is taken turns to be pushed by coupled wheel 151, the first small transfer wheel 152, connecting plate 153, the second small transfer wheel 154, first segment
Handle 155, shaft end fixed seat 156, second segment pushing handle 157, swing arm 158, sliding ball 159, inner groovy 1510 form, described
Driving wheel 151 is sequentially connected by the belt 147 that links with driven wheel 146, and the first small transfer wheel 152 is mechanically connected to coupled wheel
Axle center inside 151, the connecting plate 153 are welded on the right side of the first small transfer wheel 152, and the second small transfer wheel 154 is embedding
Right end and use flexible connection, the first segment pushing handle 155 inside connecting plate 153 are welded on 153 bottom of connecting plate
Right end, the second segment pushing handle 157 is welded on the lower section of first segment pushing handle 155 and vertically on the same straight line,
The top of the sliding ball 159 and the bottom of second segment pushing handle 157 weld together, and the shaft end fixed seat 156 is installed in
The top of first movable plate 132 and the lower right corner for being located at first gear 145, left end and the shaft end of the swing arm 158 are fixed
The fixed seat of 156 right end bottoms of seat is hinged, and the inner groovy 1510 is located at the stage casing of 158 outer surface of swing arm and is welded into one
Body, the sliding ball 159 are flexibly connected with inner groovy 1510, and the oblique pushing meanss 17 are by pressing switch 171, oblique fixation
Seat 172, oblique gullet plate 173, second gear 174, rotating wheel 175, connecting rod 176 form, and the pressing switch 171 is installed in the
It the right side of two small transfer wheels 154 and mutually fits with the bottom inside tempering shell 16, the oblique fixed seat 172 is installed in
The lower section of pressing switch 171, the oblique gullet plate 173 are installed in the right side of oblique fixed seat 172, the second gear 174
It is installed in the right side of oblique gullet plate 173 and intermeshes, the rotating wheel 175 is sequentially connected in 174 appearance of second gear
The lower end in face, top and the rotating wheel 175 of the connecting rod 176 weld together, and the jacking apparatus 18 is by jacking block 181, limit
Position track 182, spring movable block 183, hydraulic pressure lift bar 184 form, the bottom at the top and connecting rod 176 of the jacking block 181
Weld together, the bottom and the top of spring movable block 183 of the jacking block 181 fit together, the spring movable block
183 are installed in the groove of 182 inside center of limit track, inside the right end and tempering shell 16 of the limit track 182
Right end welds together, and the right end of the left end and hydraulic transmission 19 of the limit track 182 welds together, the hydraulic pressure
The bottom of lift lever 184 and the bottom of spring movable block 183 weld together and orthogonal, the hydraulic transmission 19
By pressure dynamic plate 191, L-type hydraulic cylinder 192, T-type catch bar 193, vertical compression bar 194, bent connecting rod 195, right fixed plate 196, a left side
Fixed plate 197 forms, and the L-type hydraulic cylinder 192 is welded on the lower right corner inside tempering shell 16, and the pressure dynamic plate 191 welds
It mutually fits in the bottom of hydraulic pressure lift bar 184 and with the upper right corner inside L-type hydraulic cylinder 192, the T-type catch bar 193
The top of horizontal ends is fixed on the top inside L-type hydraulic cylinder 192 by connecting spring, and the vertical compression bar 194 is installed in L-type
The top of hydraulic cylinder 192 and the connecting pin for extending vertically through bent connecting rod 195, the bent connecting rod 195 set there are two and it is right
End welds together with right fixed plate 196, and the left end of the bent connecting rod 195 and the right side of left fixed plate 197 weld together
And it is parallel to each other with right fixed plate 196.
Rack 144 of the present invention is the special gear that a kind of tooth is distributed on bar shape, and rack also divides spur rack
And diagonal-cut rack, it is used respectively with straight spur gear and helical gears pairing；The flank profil of rack is straight line rather than gradually opens
Line, it is infinitely great roller gear to be equivalent to reference radius.
When needing the raw material to reflector to be processed, magnetic reflector material close to when, since there is a natural attraction between the sexes
The reason of, magnetic adsorbing block 112 can be sucked out a little, so that jointing plate 111, hinge 113 is sucked out a little, allow 115 edge of sliding shoe
Threaded rod 116 to intermediary movements, the first telescopic rod 114 is elongated, plate 117 will be raised and released, catch bar 118 is made to transport to the right
It is dynamic, compressible spring 122 is compressed, compressible spring 122 is made to release passive lower raising plate 123, elasticity of compression spring
124, make elastomeric spring 124 that will passively upper raising plate 126 jack, the passively upper compression of raising plate 126 resets connecting spring 125, will
The right end of first movable plate 132 jacks up, and the center of the first movable plate 132 is rotated along hinge axis 131, the first movable plate 132
Left end pushes, and the left end of the first movable plate 132 pushes the right end of the second movable plate 136, allows the second movable plate 136 around idler wheel
135 rotations, make the left end of the second movable plate 136 tilt vertical gullet plate 142, make the embedded of 142 left end of vertical gullet plate
Pulley 143 is lifted up along pulley fixed seat 141, is allowed the rack 144 of its right end that first gear 145 is driven to rotate, is nibbled
It closes driven wheel 146 wherein to also begin to be acted, by linking, belt 147 drives coupled wheel 151 to rotate, due to first small
Transfer wheel 152 also begins to rotate in the center of coupled wheel 151, the first small transfer wheel 152, and connecting plate 153 is driven to move in a circle,
So that the second small transfer wheel 154 is linked, drive first segment pushing handle 155,157 downward actuation of second segment pushing handle, allows its bottom
Sliding ball 159 it is movable in inner groovy 1510, swing arm 158 is pressed downward, allows swing arm 158 along shaft end fixed seat 156
Centrifugal movement is done, vertical compression bar 194 can be pushed when pushing, so that bent connecting rod 195 is bent downwardly, T-type is pushed by swing arm 158
Bar 193 pops up, and T-type catch bar 193 squeezes the hydraulic oil inside L-type hydraulic cylinder 192, pressure dynamic plate 191 is up jacked, pressure dynamic plate
191 eject hydraulic pressure lift bar 184, and spring movable block 183 is popped up, and drive jacking block 181 to act upwards, connecting rod 176 is made to send out
It is raw to fold, at the same rotating wheel 175 along second gear 174 do it is centripetal move, drive external 174 activity of second gear, second
173 oblique lifting of oblique gullet plate, oblique gullet plate 173 are slided along the direction of oblique fixed seat 172, are hit by gear 174
To the top of pressing switch 171, pressing switch 171 is made to pop up, start the switch inside firm banking 2, allows rotation seat 3, mechanical
Lever arm 5, the second movable axis 7, outrigger shaft 8, process arm 9, processing head 10 proceed by action, process arm 9 decline to workpiece into
Row working process, after process finishing, workpiece is transmitted away, and magnetic adsorbing block 112 loses magnetic force rebound, and equipment runs out of steam,
It all resets, waits for the close of next subjob.
Problems solved by the invention is that the equipment of the prior art is by infrared induction, when reflector is transferred to manipulator
Lower section when be sensed and be just processed, when the hand of people close to when can equally be sensed, cause to accidentally injure, safety
It is poor, and discrimination degree is poor, and intelligence degree is low, and the present invention is combined with each other by above-mentioned component, can pass through Mechanical Contact
Mode sense the close of reflector raw material, by mechanical hand starting after by magnetic absorption, manipulator is enable to exist
Just work after being collided, reduce the possibility of error processing, and other objects close to when will not be into action
Make, identification is higher.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention, for this field skill
For art personnel, it is clear that invention is not limited to the details of the above exemplary embodiments, and without departing substantially from the present invention spirit or
In the case of essential characteristic, the present invention can be realized in other specific forms.Therefore, in all respects, should all incite somebody to action
Embodiment regards exemplary as, and is non-limiting, the scope of the present invention by appended claims rather than on state
Bright restriction, it is intended that including all changes that come within the meaning and range of equivalency of the claims in the present invention
It is interior.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiment being appreciated that.
Claims (9)
1. a kind of puma manipulator of automated production for reflector, structure includes close to starter (1), fixed bottom
Seat (2), the first oversheath (4), mechanical activity arm (5), the second oversheath (6), the second movable axis (7), extends rotation seat (3)
Axis (8), process arm (9), processing head (10), it is characterised in that：
The left side that firm banking (2) are mechanically connected to close to starter (1), the rotation seat (3) are fixed by bearing
In the top of firm banking (2) and using flexible connection, first oversheath (4) sets there are two by being fastened on machine
The bottom of the bottom of tool lever arm (5) left and right ends, the mechanical activity arm (5) is flexibly connected with the first oversheath (4), described
Second oversheath (6) sets there are two and is installed in the left and right ends of mechanical activity arm (5), the second movable axis (7), and described second
Movable axis (7) is connected to the upper left corner of mechanical activity arm (5) by bearing mechanical, and the outrigger shaft (8) is vertically fixed on second
The left end of movable axis (7) and using being welded to connect, the process arm (9) is horizontally fixed on left side and the axis of outrigger shaft (8)
The heart is conllinear, and the process arm (9) is flexibly connected with outrigger shaft (8), and the processing head (10) is sequentially connected on a left side for process arm (9)
Side；
It is described close to starter (1) by magnetic absorption device (11), spring push-pull device (12), movable wraping plate structure (13),
Slide toothed plate device (14), pulley pushing mechanism (15), tempering shell (16), oblique pushing meanss (17), jacking apparatus (18),
Hydraulic transmission (19) forms；
The magnetic absorption device (11) be installed in the internal lower left corner of tempering shell (16) and with the left end of firm banking (2)
Weld together, the bottom of the spring push-pull device (12) is connect with the bottom mechanical of magnetic absorption device (11) right end, institute
It states movable wraping plate structure (13) and is installed in the left side of spring push-pull device (12) and using flexible connection, the sliding tooth plate dress
The left end and the left end of tempering shell (16) inside for setting (14) weld together, the bottom of the sliding toothed plate device (14) and work
The top movable connection of dynamic wraping plate structure (13), the right side of the left end and sliding toothed plate device (14) of the pulley pushing mechanism (15)
End is intermeshed, and the bottom of the pulley pushing mechanism (15) is flexibly connected with the top of hydraulic transmission (19) left end, institute
The top for stating hydraulic transmission (19) right end and the bottom end of jacking apparatus (18) are mechanically connected, the top of the jacking apparatus (18)
The bottom in portion and oblique pushing meanss (17) welds together, and tempering shell is fitted at the top of the oblique pushing meanss (17)
(16) internal top.
2. a kind of puma manipulator of automated production for reflector according to claim 1, it is characterised in that：Institute
Magnetic absorption device (11) is stated by jointing plate (111), magnetic adsorbing block (112), hinge (113), the first telescopic rod (114), cunning
Motion block (115), threaded rod (116) raise plate (117), catch bar (118), the second telescopic rod (119) composition, the jointing plate
(111) it is fitted in the internal lower left corner of tempering shell (16) and using flexible connection, the magnetic adsorbing block (112) is horizontal solid
It is scheduled on the left side of jointing plate (111) and using being welded to connect, the hinge (113) is hinged on the right side of jointing plate (111), institute
The bottom for stating the first telescopic rod (114) is hinged on the upper left corner of hinge (113), first telescopic rod in 45 degree of angles
(114) left end at top and upper end sliding shoe (115) welds together, and the sliding shoe (115) sets there are two and distinguishes
The upper and lower ends of threaded rod (116) outer surface are threaded in, the top of second telescopic rod (119) is cut with scissors in 45 degree of angles
It is connected on the lower right corner of hinge (113) and, the bottom of second telescopic rod (119) mutually symmetrical with the first telescopic rod (114)
Be welded on the left side of the sliding shoe (115) of lower end, first telescopic rod (114), the second telescopic rod (119) right half part with
The left end of plate (117) is raised by screw together, the catch bar (118), which sets there are two and is vertically welded in, raises plate
(117) right end.
3. a kind of puma manipulator of automated production for reflector according to claim 1, it is characterised in that：Institute
Spring push-pull device (12) is stated by arc spring track (121), compressible spring (122), passive lower raising plate (123), elasticity
Spring (124) resets connecting spring (125), passively upper raising plate (126) composition, and the arc spring track (121) is equipped with two
Right side that is a and being installed in catch bar (118), the compressible spring (122) are installed in the interior of arc spring track (121)
Portion welds together at the top of the top of the compressible spring (122) and passive lower raising plate (123), the compressible bullet
The left end of spring (122) is flexibly connected with catch bar (118), the elastomeric spring (124) set there are two and be vertically fixed on by
The top of lower raising plate (123) is moved, is welded at the top of the bottom of the passive upper raising plate (126) and elastomeric spring (124)
It is together and parallel to each other with passive lower raising plate (123).
4. a kind of puma manipulator of automated production for reflector according to claim 1, it is characterised in that：Institute
Movable wraping plate structure (13) is stated by hinge axis (131), the first movable plate (132), L-type fixed seat (133), roller fixing base
(134), idler wheel (135), the second movable plate (136) composition, the hinge axis (131) are installed in the upper of L-type fixed seat (133)
Side, the hinge axis (131) is through the internal center of the first movable plate (132), the right end of the first movable plate (132) bottom
Weld together at the top of connecting spring (125) with resetting, the left end and tempering shell (16) of the L-type fixed seat (133) are interior
The stage casing of portion's left end welds together, and roller fixing base (134) glue connection is described in the stage casing that L-type fixed seat (133) is held
Idler wheel (135) is movably connected in the top of roller fixing base (134), and the idler wheel (135) is installed in the second movable plate (136)
The center in portion and using flexible connection, second movable plate (136) and roller fixing base (134) are orthogonal.
5. a kind of puma manipulator of automated production for reflector according to claim 1, it is characterised in that：Institute
Sliding toothed plate device (14) is stated by pulley fixed seat (141), vertical gullet plate (142), embedded pulley (143), rack
(144), first gear (145), driven wheel (146), linkage belt (147) form, and the pulley fixed seat (141) is mounted on L
The top of type fixed seat (133) and the left end internal with tempering shell (16) welds together, the embedded pulley (143)
If being slidably connected there are two and with the internal track of pulley fixed seat (141), the embedded pulley (143) passes through connecting shaft
It is fixed on the left end of vertical gullet plate (142), the vertical gullet plate (142) is installed in the top of the second movable plate (136), institute
The right side that rack (144) is welded on vertical gullet plate (142) is stated, first gear (145) level is installed in rack (144)
It right side and intermeshes, the driven wheel (146) is mechanically connected to the inside of first gear (145), the driven wheel (146)
By linking, belt (147) is sequentially connected with pulley pushing mechanism (15).
6. a kind of puma manipulator of automated production for reflector according to claim 1, it is characterised in that：Institute
Pulley pushing mechanism (15) is stated by coupled wheel (151), the first small transfer wheel (152), connecting plate (153), the second small transfer wheel
(154), first segment pushing handle (155), shaft end fixed seat (156), second segment pushing handle (157), swing arm (158), sliding ball
(159), inner groovy (1510) forms, and the coupled wheel (151) is sequentially connected by the belt (147) that links with driven wheel (146),
The first small transfer wheel (152) is mechanically connected to the internal axle center of coupled wheel (151), and the connecting plate (153) is welded on the
The right side of one small transfer wheel (152), the second small transfer wheel (154) is embedded in the internal right end of connecting plate (153) and use
Flexible connection, the first segment pushing handle (155) are welded on the right end of connecting plate (153) bottom, the second segment pushing handle
(157) it is welded on the lower section of first segment pushing handle (155) vertically and is on same straight line, the top of the sliding ball (159)
The bottom in portion and second segment pushing handle (157) welds together, and the shaft end fixed seat (156) is installed in the first movable plate
(132) top and the lower right corner positioned at first gear (145), left end and the shaft end fixed seat of the swing arm (158)
(156) fixed seat of right end bottom is hinged, and the inner groovy (1510) is located at the stage casing of swing arm (158) outer surface and welding
Integrally, the sliding ball (159) is flexibly connected with inner groovy (1510).
7. a kind of puma manipulator of automated production for reflector according to claim 1, it is characterised in that：Institute
Oblique pushing meanss (17) are stated by pressing switch (171), oblique fixed seat (172), oblique gullet plate (173), second gear
(174), rotating wheel (175), connecting rod (176) composition, the pressing switch (171) are installed in the right side of the second small transfer wheel (154)
The side and bottom internal with tempering shell (16) mutually fits, the oblique fixed seat (172) is installed in pressing switch (171)
Lower section, the oblique gullet plate (173) is installed in the right side of oblique fixed seat (172), and the second gear (174) is installed in
It the right side of oblique gullet plate (173) and intermeshes, the rotating wheel (175) is sequentially connected in second gear (174) appearance
The lower end in face, top and the rotating wheel (175) of the connecting rod (176) weld together.
8. a kind of puma manipulator of automated production for reflector according to claim 1, it is characterised in that：Institute
Jacking apparatus (18) is stated by jacking block (181), limit track (182), spring movable block (183), hydraulic pressure lift bar (184) group
At the top and the bottom of connecting rod (176) of the jacking block (181) weld together, the bottom of the jacking block (181) and bullet
Spring movable block fits together at the top of (183), and the spring movable block (183) is installed in limit track (182) inside center
Groove in, the right end of the limit track (182) and the internal right end of tempering shell (16) weld together, the position-limited rail
The left end in road (182) and the right end of hydraulic transmission (19) weld together, the bottom of the hydraulic pressure lift bar (184) and bullet
The bottom of spring movable block (183) welds together and orthogonal.
9. a kind of puma manipulator of automated production for reflector according to claim 1, it is characterised in that：Institute
State hydraulic transmission (19) by pressure dynamic plate (191), L-type hydraulic cylinder (192), T-type catch bar (193), vertical compression bar (194),
Bent connecting rod (195), right fixed plate (196), left fixed plate (197) composition, the L-type hydraulic cylinder (192) are welded on outside tempering
The internal lower right corner of shell (16), the pressure dynamic plate (191) be welded on the bottom of hydraulic pressure lift bar (184) and with L-type hydraulic cylinder
(192) the internal upper right corner mutually fits, and the top of T-type catch bar (193) horizontal ends is fixed on L-type by connecting spring
The internal top of hydraulic cylinder (192), the vertical compression bar (194) are installed in the top of L-type hydraulic cylinder (192) and extend vertically through
The connecting pin of bent connecting rod (195), the bent connecting rod (195) set there are two and right end be welded on right fixed plate (196)
Together, weld together on the right side of the left end of the bent connecting rod (195) and left fixed plate (197) and with right fixed plate (196)
It is parallel to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810147513.3A CN108393934A (en) | 2018-02-12 | 2018-02-12 | A kind of puma manipulator of automated production for reflector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810147513.3A CN108393934A (en) | 2018-02-12 | 2018-02-12 | A kind of puma manipulator of automated production for reflector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108393934A true CN108393934A (en) | 2018-08-14 |
Family
ID=63095585
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810147513.3A Pending CN108393934A (en) | 2018-02-12 | 2018-02-12 | A kind of puma manipulator of automated production for reflector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108393934A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110293530A (en) * | 2019-06-25 | 2019-10-01 | 顺德职业技术学院 | The mounting platform of bottom plate of electric cabinet |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5431163A (en) * | 1977-08-15 | 1979-03-07 | Hitachi Ltd | Robot controlling method for preventing collision of the robot with man |
| CN105082184A (en) * | 2015-07-13 | 2015-11-25 | 苏州铂电自动化科技有限公司 | Safety protection device for industrial robot |
| CN105113983A (en) * | 2015-08-28 | 2015-12-02 | 黑龙江景宏石油设备制造有限公司 | Intelligent petroleum drilling machine |
| CN107199553A (en) * | 2017-07-25 | 2017-09-26 | 广州市中潭空气净化科技有限公司 | A kind of robots arm |
| CN206937311U (en) * | 2017-07-12 | 2018-01-30 | 谢冰冰 | A kind of intelligent machine arm of automated production for reflector |
-
2018
- 2018-02-12 CN CN201810147513.3A patent/CN108393934A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5431163A (en) * | 1977-08-15 | 1979-03-07 | Hitachi Ltd | Robot controlling method for preventing collision of the robot with man |
| CN105082184A (en) * | 2015-07-13 | 2015-11-25 | 苏州铂电自动化科技有限公司 | Safety protection device for industrial robot |
| CN105113983A (en) * | 2015-08-28 | 2015-12-02 | 黑龙江景宏石油设备制造有限公司 | Intelligent petroleum drilling machine |
| CN206937311U (en) * | 2017-07-12 | 2018-01-30 | 谢冰冰 | A kind of intelligent machine arm of automated production for reflector |
| CN107199553A (en) * | 2017-07-25 | 2017-09-26 | 广州市中潭空气净化科技有限公司 | A kind of robots arm |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110293530A (en) * | 2019-06-25 | 2019-10-01 | 顺德职业技术学院 | The mounting platform of bottom plate of electric cabinet |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107618873A (en) | Can auto lock mechanical arm | |
| CN102283765A (en) | Rectangular coordinate and joint type combined traditional Chinese massage robot | |
| CN106214425A (en) | A kind of exoskeleton-type wound finger gymnastic robot | |
| CN208614785U (en) | A kind of multi-functional mechanical arm | |
| CN108393934A (en) | A kind of puma manipulator of automated production for reflector | |
| CN207328642U (en) | A kind of motor-driven bio-robot of list | |
| CN108036150B (en) | A kind of drainpipe detecting robot | |
| CN207154455U (en) | A kind of aluminum strip stretching-straightening device | |
| CN112720551A (en) | Flexible mechanical claw and working method thereof | |
| CN201701439U (en) | Rectangular coordinate type and articulated type combined Chinese traditional massage robot | |
| CN108016705A (en) | A kind of conveying arrangement for fixing oil production tubing | |
| CN207970431U (en) | A kind of stable type badminton net with automatically picking up balls function | |
| CN209154998U (en) | A kind of device of jogging being beneficial to health of heart | |
| CN107875465A (en) | A kind of automatic cup robot | |
| CN206811990U (en) | A kind of adaptive rope drive formula drive lacking three refers to manipulator | |
| CN215942995U (en) | Maintenance device is maintained to articulated robotic arm | |
| CN209645095U (en) | Endoscopic surgery support elbow pad | |
| CN110654473B (en) | Bionic foot component | |
| CN209648186U (en) | Arch workpiece centering pressing device | |
| CN209379684U (en) | A kind of double-throw charging tray of wire rod wire drawing machine | |
| CN207119916U (en) | A kind of welder | |
| CN209175745U (en) | A kind of six-DOF robot with adaptive ability | |
| CN207306821U (en) | A kind of cardiovascular disease Special nursing bed | |
| CN208665361U (en) | A kind of elevating mechanism and creeper truck | |
| CN110641570A (en) | Pneumatic bionic wall-climbing walking device capable of crossing inner wall |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180814 |