CN108406734A - A kind of track machine people device - Google Patents
A kind of track machine people device Download PDFInfo
- Publication number
- CN108406734A CN108406734A CN201810242013.8A CN201810242013A CN108406734A CN 108406734 A CN108406734 A CN 108406734A CN 201810242013 A CN201810242013 A CN 201810242013A CN 108406734 A CN108406734 A CN 108406734A
- Authority
- CN
- China
- Prior art keywords
- block
- sliding
- face
- rotate gear
- cavity
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of track machine people devices,Including babinet,It is provided with power cavity in the babinet,The transluminal being connected to exterior space is provided with and communicated with before and after the power cavity in end wall,Transluminal inner wall is installed with the rotate gear of teeth directional inwardly,The rotate gear extends into forward in the power cavity,Engagement is provided with fixed gear inside the rotate gear,It is provided with pinion cavity in the fixed gear,Pinion cavity inner wall is symmetrical above and below to be installed with solid block,It is installed with sliding block between the solid block,The front and back square shaft extended is slidably provided in the sliding block,The rear end face of the square shaft is installed with mounting blocks,The front end face of the square shaft is installed with bit block,Apparatus of the present invention are simple in structure,It is easy to use,This device uses the working method around orbit rotation,Realize the carrying of article in factory,It is effectively saved working space.
Description
Technical field
The present invention relates to robot fields, and in particular to a kind of track machine people device.
Background technology
With the development of science and technology, social progress, country promotes always high-tech development, in plant produced operation,
More and more manually replaced by robot, during general robot installs and uses, often ground formula is used to install, very
Rare based on track and to be suspended in the robot in space, this device efficiently solves the problems, such as this.
Invention content
The purpose of the present invention is to provide a kind of track machine people devices, can overcome the drawbacks described above of the prior art.
According to the present invention, a kind of track machine people device of apparatus of the present invention, including babinet is provided in the babinet dynamic
Power chamber is provided with and communicated with the transluminal being connected to exterior space before and after the power cavity in end wall, and transluminal inner wall is installed with teeth directional court
Interior rotate gear, the rotate gear extend into forward in the power cavity, engage and are provided with admittedly inside the rotate gear
Fixed gear, is provided with pinion cavity in the fixed gear, and pinion cavity inner wall is symmetrical above and below to be installed with solid block, the solid block it
Between be installed with sliding block, the front and back square shaft extended is slidably provided in the sliding block, the rear end face of the square shaft is installed with peace
Block is filled, the front end face of the square shaft is installed with bit block, sliding motor is installed in the mounting blocks front end face, described to slide electricity
The output shaft of machine is rotatably assorted with the bit block rear end face and connect, and driving motor is installed in the power cavity aft bulkhead, drives
Dynamic motor output shaft front end face is installed with drive pulley, and the drive pulley is connected with the rotate gear by belt power
It connects, the babinet right side is installed with concave block, and opening is installed in the concave block towards right atrium, the atrium left end wall
It is inside installed with rotary electric machine, the output shaft right side of the rotary electric machine is installed with conical surface block, and the inclined surface of the conical surface block is solid
Equipped with connecting shaft, rotatably it is provided between end wall above and below the atrium and the fixed switch block of the connecting shaft, the switch block is right
End face be installed with extend to the right and it is symmetrical above and below wear connecting rod, the concave block outer surface is rotatably provided with turning of extending to the right
Body is installed with the rotation being open to the left in the swivel and begins to speak, and it is right up and down that the rotation begins to speak to be provided with and communicated in end wall up and down
Company's chamber of title, the even chamber are connected to exterior space, and the rotation begins to speak to be installed with link block, the company of wearing between end wall up and down
Bar passes through the link block and is fixed with the right end wall of beginning to speak that rotates, and the rotation begins to speak to be installed with sliding electricity in right end wall
Machine, the output shaft of the sliding motor is rotatably assorted with the link block right side and connect, outside the output shaft of the sliding motor
Thread surface mating connection is provided with sliding shoe, and the sliding shoe and the rod slide of wearing are connected and stretch out external empty
Between, the sliding shoe front end face is symmetrical above and below to be installed with solid column, and the swivel upper and lower end face is symmetrical above and below to be installed with solid plate, described
Solid plate front end face is installed with solid axis, and the solid axis outer surface is rotatably provided with clamping jaw, and the clamping jaw right side is installed with soft
Ball is installed with pre-and post perforative sliding cavity in the clamping jaw, and the sliding cavity is rolled with the solid column and is connected, to constitute
Complete raw track machine people's device, is effectively saved working space.
Further technical solution, the internal tooth of the rotate gear is identical as the external tooth number of fixed gear, and institute
It is identical with the modulus of rotate gear to state rotate gear, to improve device transmission stability.
Further technical solution, the connecting shaft end are installed with ball, and ball is wedged in the switch block and the switch block
It is fixed, to improve the stability of device.
Further technical solution, the soft ball makes for elastic material, to improve the clamping effect of device.
The cross section of further technical solution, the square shaft is rectangular, to improve the transmission stability of device.
The beneficial effects of the invention are as follows：
In the initial state due to apparatus of the present invention, the driving motor in the power cavity aft bulkhead, sliding motor, rotary electric machine
It is in stop working state with sliding motor, the sliding shoe is located at the centre of the even chamber, to make above structure exist
It is located at initial position when original state, can be adjusted in follow-up work, effectively improve the working regularity of device.
When device is run, the sliding motor work drives the sliding block to be moved forward and backward, then before so that the babinet is carried out
After move, the work of motor in the power cavity aft bulkhead drives the driver pulley rotation, keeps the rotate gear opposite
It turns an angle in the fixed gear, makes the body pivot to the specified angle of work, the rotary electric machine work, drive
The dynamic conical surface block rotation, then drive the swivel to rotate, and the clamping jaw is made to turn to specified angle, the sliding motor work
It drives the sliding shoe to move left and right, so that the soft ball chuck is taken article after so that the clamping jaw is swung, then make the sliding motor work
Make, so that the sliding block is moved to the position that article to be placed, then drive above structure, so that each structure is interlocked, to realize
Using the working method rotated around rail mounted, the automation of gripping article is realized, production efficiency is effectively increased.
When the drive pulley drives the rotate gear rotation, the rotate gear is relative to the fixed gear
It is rotated, to improve the flexibility of device.
Apparatus of the present invention are simple in structure, easy to use, this device uses the working method around orbit rotation, realizes work
The carrying of article, is effectively saved working space in factory.
The above, the specific implementation mode only invented, but invent protection domain be not limited thereto, it is any without
The change or replacement that creative work is expected are crossed, should all be covered within the protection domain of invention.Therefore, the protection domain of invention
It should be determined by the scope of protection defined in the claims.
Description of the drawings
It, below will be to embodiment or existing in order to illustrate more clearly of inventive embodiments or technical solution in the prior art
Attached drawing is briefly described needed in technology description, it should be apparent that, the accompanying drawings in the following description is only to invent
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is a kind of overall structure diagram of track machine people device of the present invention；
Fig. 2 is the schematic diagram in the directions A-A in Fig. 1.
Specific implementation mode
All features disclosed in this specification or disclosed all methods or in the process the step of, in addition to mutually exclusive
Feature and/or step other than, can combine in any way.
This specification（Including any accessory claim, abstract and attached drawing）Disclosed in any feature, except non-specifically chatting
It states, can be replaced by other alternative features that are equivalent or have similar purpose.That is, unless specifically stated, each feature is only
It is an example in a series of equivalent or similar characteristics.
As shown in Figs. 1-2, a kind of track machine people device of the invention, including babinet 100, the interior setting of the babinet 100
Dynamic chamber 101, the transluminal being connected to exterior space is provided with and communicated with before and after the power cavity 101 in end wall, transluminal inner wall is solid
Rotate gear 104 equipped with teeth directional inwardly, the rotate gear 104 extend into forward in the power cavity 101, the turning gear
104 inside engagement of wheel is provided with fixed gear 103, pinion cavity is provided in the fixed gear 103, on pinion cavity inner wall
It is symmetrically installed with solid block 102 down, is installed with sliding block 106 between the solid block 102, is slidably provided in the sliding block 106
The rear end face of the square shaft 105 of front and back extension, the square shaft 105 is installed with mounting blocks 200, and the front end face of the square shaft 105 is fixed
Have bit block 201, be installed with sliding motor 202 in 200 front end face of the mounting blocks, the output shaft of the sliding motor 202 with
201 rear end face of the bit block is rotatably assorted connection, and driving motor, driving motor are installed in 101 aft bulkhead of the power cavity
Output shaft front end face is installed with drive pulley 107, and the drive pulley 107 is dynamic by belt with the rotate gear 104
Power connects, and 100 right side of the babinet is installed with concave block 108, is installed with and is open towards right atrium 110 in the concave block 108,
Rotary electric machine 109 is installed in 110 left end wall of the atrium, the output shaft right side of the rotary electric machine 109 is installed with cone
Face block 112, the inclined surface of the conical surface block 112 are installed with connecting shaft 111, rotatable between about 110 end wall of the atrium
Be provided with 111 fixed switch block 113 of the connecting shaft, 113 right side of the switch block be installed with to the right extend and it is symmetrical above and below
Wear connecting rod 124,108 outer surface of the concave block is rotatably provided with the swivel 114 extended to the right, fixed in the swivel 114
There is the rotation being open to the left to begin to speak 126, the rotation begins to speak to be provided with and communicated with company's chamber 123 symmetrical above and below in about 126 end walls,
The even chamber 123 is connected to exterior space, and the rotation begins to speak to be installed with link block 115, the company of wearing between about 126 end walls
Bar 124 passes through the link block 115 and is fixed with the 126 right end walls of beginning to speak that rotate, described to rotate in 126 right end walls of beginning to speak admittedly
Equipped with sliding motor 125, the output shaft of the sliding motor 125 is rotatably assorted with 115 right side of the link block and connect, described
The output shaft outer surface thread mating connection of sliding motor 125 is provided with sliding shoe 116, the sliding shoe 116 and the company of wearing
Bar 124 is slidably connected and stretches out exterior space, and 116 front end face of the sliding shoe is symmetrical above and below to be installed with solid column 117, described
Turn that 114 upper and lower end faces are symmetrical above and below to be installed with solid plate 121,121 front end face of the solid plate is installed with solid axis 120, the solid axis
120 outer surfaces are rotatably provided with clamping jaw 119, and 119 right side of the clamping jaw is installed with soft ball 122, consolidates in the clamping jaw 119
Equipped with pre-and post perforative sliding cavity 118, the sliding cavity 118 is rolled with the solid column 117 and is connected, complete to constitute
Raw track machine people's device, is effectively saved working space.
Valuably, wherein the internal tooth of the rotate gear 104 is identical as the external tooth number of the fixed gear 103, and institute
It is identical with the modulus of rotate gear 104 to state rotate gear 104, to improve device transmission stability.
Valuably, wherein 111 end of the connecting shaft is installed with ball, and ball is wedged in the switch block 113 and the switch block
113 fix, to improve the stability of device.
Valuably, wherein the soft ball 122 makes for elastic material, to improve the clamping effect of device.
Valuably, wherein the cross section of the square shaft 105 is rectangular, to improve the transmission stability of device.
In the initial state, driving motor, sliding motor 202 in 101 aft bulkhead of the power cavity turn apparatus of the present invention
Dynamic motor 109 and sliding motor 125 are in stop working state, and the sliding shoe 116 is located at the central part of the even chamber 123
Position.
When device is run, the sliding motor 202 works, and drives the sliding block 106 to be moved forward and backward, then makes the babinet
100 are moved forward and backward, and the motor work in 101 aft bulkhead of the power cavity drives the drive pulley 107 to rotate, makes
The rotate gear 104 turns an angle relative to the fixed gear 103, and the babinet 100 is made to turn to the finger of work
Determine angle, the rotary electric machine 109 works, and the conical surface block 112 is driven to rotate, then drives 114 rotation of the swivel, make described
Clamping jaw 119 turns to specified angle, and sliding shoe 116 moves left and right described in 125 task driven of the sliding motor, makes the clamping jaw
So that the soft ball 122 is gripped article after 119 swings, then the sliding motor 202 is made to work, the sliding block 106 is made to be moved to object
The position to be placed of product, then above structure is driven, so that each structure is interlocked.
When the drive pulley 107 drives the rotate gear 104 to rotate, the rotate gear 104 is relative to institute
Fixed gear 103 is stated to be rotated.
The beneficial effects of the invention are as follows：In the initial state, the driving in the power cavity aft bulkhead is electric for apparatus of the present invention
Machine, sliding motor, rotary electric machine and sliding motor are in stop working state, and the sliding shoe is located at the central part of the even chamber
Position can be adjusted in follow-up work to make above structure be located at initial position in the initial state, effectively improve dress
The working regularity set.
When device is run, the sliding motor work drives the sliding block to be moved forward and backward, then before so that the babinet is carried out
After move, the work of motor in the power cavity aft bulkhead drives the driver pulley rotation, keeps the rotate gear opposite
It turns an angle in the fixed gear, makes the body pivot to the specified angle of work, the rotary electric machine work, drive
The dynamic conical surface block rotation, then drive the swivel to rotate, and the clamping jaw is made to turn to specified angle, the sliding motor work
It drives the sliding shoe to move left and right, so that the soft ball chuck is taken article after so that the clamping jaw is swung, then make the sliding motor work
Make, so that the sliding block is moved to the position that article to be placed, then drive above structure, so that each structure is interlocked, to realize
Using the working method rotated around rail mounted, the automation of gripping article is realized, production efficiency is effectively increased.
When the drive pulley drives the rotate gear rotation, the rotate gear is relative to the fixed gear
It is rotated, to improve the flexibility of device.
Apparatus of the present invention are simple in structure, easy to use, this device uses the working method around orbit rotation, realizes work
The carrying of article, is effectively saved working space in factory.
The above, the specific implementation mode only invented, but invent protection domain be not limited thereto, it is any without
The change or replacement that creative work is expected are crossed, should all be covered within the protection domain of invention.Therefore, the protection domain of invention
It should be determined by the scope of protection defined in the claims.
Claims (5)
1. a kind of track machine people device, including babinet, it is provided with power cavity in the babinet, before and after the power cavity in end wall
It is provided with and communicated with the transluminal being connected to exterior space, transluminal inner wall is installed with the rotate gear of teeth directional inwardly, the rotate gear
It extends into forward in the power cavity, is engaged inside the rotate gear and be provided with fixed gear, setting in the fixed gear
There is pinion cavity, pinion cavity inner wall is symmetrical above and below to be installed with solid block, and sliding block is installed between the solid block, can in the sliding block
Sliding is provided with the front and back square shaft extended, and the rear end face of the square shaft is installed with mounting blocks, and the front end face of the square shaft is fixed
Have bit block, be installed with sliding motor in the mounting blocks front end face, the output shaft of the sliding motor with after the bit block
End face is rotatably assorted connection, driving motor is installed in the power cavity aft bulkhead, driving motor output shaft front end face is installed with
Drive pulley, with the rotate gear by belt be connected by power, the babinet right side is installed with the drive pulley
Concave block is installed with opening in the concave block towards right atrium, is installed with rotary electric machine in the atrium left end wall, described turn
The output shaft right side of dynamic motor is installed with conical surface block, and the inclined surface of the conical surface block is installed with connecting shaft, above and below the atrium
Rotatably be provided between end wall with the fixed switch block of the connecting shaft, the switch block right side be installed with to the right extend and up and down
Connecting rod symmetrically is worn, the concave block outer surface is rotatably provided with the swivel extended to the right, is installed with to the left in the swivel
The rotation of opening is begun to speak, and the rotation begins to speak to be provided with and communicated with company's chamber symmetrical above and below, the even chamber and outside in upper and lower end wall
Space is connected to, and the rotation begins to speak to be installed with link block between end wall up and down, it is described wear connecting rod across the link block and with institute
It states rotation right end wall of beginning to speak to fix, the rotation begins to speak to be installed with sliding motor, the output shaft of the sliding motor in right end wall
It is rotatably assorted and connect with the link block right side, the output shaft outer surface thread mating connection of the sliding motor is provided with cunning
Motion block, the sliding shoe is connected with the rod slide of wearing and stretches out exterior space, right above and below the sliding shoe front end face
Title is installed with solid column, and the swivel upper and lower end face is symmetrical above and below to be installed with solid plate, and the solid plate front end face is installed with solid axis, described
Gu axis outer surface is rotatably provided with clamping jaw, the clamping jaw right side is installed with soft ball, and front and back pass through is installed in the clamping jaw
The sliding cavity worn, the sliding cavity are rolled with the solid column and are connected.
2. a kind of track machine people device as described in claim 1, it is characterised in that：The internal tooth of the rotate gear with it is described
The external tooth number of fixed gear is identical, and the rotate gear is identical with the modulus of rotate gear.
3. a kind of track machine people device as described in claim 1, it is characterised in that：The connecting shaft end is installed with ball,
Ball is wedged in the switch block and is fixed with the switch block.
4. a kind of track machine people device as described in claim 1, it is characterised in that：The soft ball makes for elastic material.
5. a kind of track machine people device as described in claim 1, it is characterised in that：The cross section of the square shaft is rectangular.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810242013.8A CN108406734A (en) | 2018-03-22 | 2018-03-22 | A kind of track machine people device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810242013.8A CN108406734A (en) | 2018-03-22 | 2018-03-22 | A kind of track machine people device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108406734A true CN108406734A (en) | 2018-08-17 |
Family
ID=63133148
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810242013.8A Withdrawn CN108406734A (en) | 2018-03-22 | 2018-03-22 | A kind of track machine people device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108406734A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109434824A (en) * | 2019-01-10 | 2019-03-08 | 福州大学 | A kind of the simple motion mechanism and its working method of the changeable direction of motion |
| CN109483587A (en) * | 2019-01-10 | 2019-03-19 | 福州大学 | Pneumatic software clamper and its application method |
| CN110421398A (en) * | 2019-08-05 | 2019-11-08 | 华晓精密工业(苏州)有限公司 | Push and pull clamp system |
| CN111437910A (en) * | 2020-04-07 | 2020-07-24 | 傅松 | Grain impact crushing device for agricultural processing |
| CN111941408A (en) * | 2020-07-16 | 2020-11-17 | 昆明理工大学 | A rotatable mechanical gripper for visual sorting systems |
| CN112374001A (en) * | 2020-12-01 | 2021-02-19 | 广汉市胜鹰机械有限责任公司 | Classification claw on self-discharging classification garbage truck |
| CN115301877A (en) * | 2022-10-12 | 2022-11-08 | 海疆(江苏)智能科技有限公司 | Industrial robot arm forging platform |
-
2018
- 2018-03-22 CN CN201810242013.8A patent/CN108406734A/en not_active Withdrawn
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109434824A (en) * | 2019-01-10 | 2019-03-08 | 福州大学 | A kind of the simple motion mechanism and its working method of the changeable direction of motion |
| CN109483587A (en) * | 2019-01-10 | 2019-03-19 | 福州大学 | Pneumatic software clamper and its application method |
| CN110421398A (en) * | 2019-08-05 | 2019-11-08 | 华晓精密工业(苏州)有限公司 | Push and pull clamp system |
| CN111437910A (en) * | 2020-04-07 | 2020-07-24 | 傅松 | Grain impact crushing device for agricultural processing |
| CN111941408A (en) * | 2020-07-16 | 2020-11-17 | 昆明理工大学 | A rotatable mechanical gripper for visual sorting systems |
| CN112374001A (en) * | 2020-12-01 | 2021-02-19 | 广汉市胜鹰机械有限责任公司 | Classification claw on self-discharging classification garbage truck |
| CN115301877A (en) * | 2022-10-12 | 2022-11-08 | 海疆(江苏)智能科技有限公司 | Industrial robot arm forging platform |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180817 |
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| WW01 | Invention patent application withdrawn after publication |