CN108422409A - Turnover device of mechanical arm and robot with it - Google Patents
Turnover device of mechanical arm and robot with it Download PDFInfo
- Publication number
- CN108422409A CN108422409A CN201810118802.0A CN201810118802A CN108422409A CN 108422409 A CN108422409 A CN 108422409A CN 201810118802 A CN201810118802 A CN 201810118802A CN 108422409 A CN108422409 A CN 108422409A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- turnover device
- rotating member
- sliding block
- installation 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—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
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- 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
-
- 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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of turnover device of mechanical arm and with its robot.Turnover device of mechanical arm includes overturning drive device, connecting flange and manipulator, and manipulator is connected directly between by connecting flange on overturning drive device.Since the manipulator in the turnover device of mechanical arm in the present invention is connect with overturning drive device, by the effect of overturning drive device, it can directly be overturn with driving manipulator, not only save space, it is also convenient for control machinery hand overturning, is easy to implement the overall-in-one control schema of turnover device of mechanical arm.
Description
Technical field
The present invention relates to mechanical device technical fields, in particular to a kind of turnover device of mechanical arm and with its
Robot.
Background technology
Air conditioner industry at present, automatic technology, which introduces, becomes upsurge, wherein many workpiece in automated production, need to turn over
Turn, easy to produce, existing technology substantially increases a set of automatic turning device, occupies, and cost input is big, uncomfortable
With.
Pressure unit is to realize automation rewinding, needs to realize using manipulator, but during manipulator rewinding, portion
Point part needs to realize rotary movement, and traditional scheme is caused to cannot achieve, thus there is an urgent need to manipulator clamp hands itself can be real
The structure now overturn.
Invention content
It is existing to solve the main purpose of the present invention is to provide a kind of turnover device of mechanical arm and with its robot
The problem of manipulator in technology is difficult to overturn.
To achieve the goals above, it according to an aspect of the invention, there is provided a kind of turnover device of mechanical arm, including turns over
Rotary driving device, connecting flange and manipulator, manipulator are connected directly between by connecting flange on overturning drive device.
Further, overturning drive device is cylinder, and cylinder includes：Cylinder body is provided with installation cavity on cylinder body；Rotating member,
Rotating member is rotatably installed on cylinder body, and there is rotating member the linkage section for stretching out in cylinder body, connecting flange to be mounted on linkage section
On；Sliding block, sliding block are slidably mounted in installation cavity, and sliding block is drivingly connected with rotating member to drive rotating member to rotate.
Further, installation cavity is two, is separated by partition between two installation cavitys, rotating member is located at the centre of partition board
At position；Sliding block is two pieces, and two pieces of sliding blocks are mounted in installation cavity correspondingly, and the glide direction of two pieces of sliding blocks is opposite.
Further, rotating member is provided with follower on sliding block, rotating member, is provided on sliding block and is driven with follower
The initiative part of dynamic connection.
Further, initiative part is the first rack being arranged on sliding block, and the first rack extends along the length direction of sliding block,
Follower is the second rack being arranged in rotating member periphery.
Further, mounting hole is provided on cylinder body, rotating member is mounted on by bearing in mounting hole.
Further, the first end of installation cavity is provided with the adjuster of the stroke for adjusting slider.
Further, adjuster includes baffle and adjusting rod, and baffle is screwed onto installation cavity end, and adjusting rod is fixedly mounted on
On baffle.
Further, connecting flange is L-shaped flange.
Further, turnover device of mechanical arm further includes sensor and controller, and sensor is used for the position of inspecting manipuator
It sets, controller is connect with sensor communication, the signal control cylinder opening and closing of controller receiving sensor.
According to another aspect of the present invention, a kind of robot, including turnover device of mechanical arm, manipulator overturning dress are provided
It is set to above-mentioned turnover device of mechanical arm.
It applies the technical scheme of the present invention, since the manipulator in the turnover device of mechanical arm in the present invention drives with overturning
Device connects, and by the effect of overturning drive device, can directly be overturn with driving manipulator, not only save space, be also convenient for controlling
Manipulator overturning processed, is easy to implement the overall-in-one control schema of turnover device of mechanical arm.
Description of the drawings
The accompanying drawings which form a part of this application are used to provide further understanding of the present invention, and of the invention shows
Meaning property embodiment and its explanation are not constituted improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 diagrammatically illustrates the first sectional view of the cylinder in the present invention；
Fig. 2 diagrammatically illustrates the second sectional view of the cylinder of the present invention；
Fig. 3 diagrammatically illustrates the front view of the connecting flange of the present invention；
Fig. 4 diagrammatically illustrates the vertical view of the connecting flange of the present invention；
Fig. 5 diagrammatically illustrates the sectional view of the connecting flange of the present invention.
Wherein, above-mentioned attached drawing includes the following drawings label：
10, cylinder；11, cylinder body；111, installation cavity；12, rotating member；121, linkage section；122, the second rack；13, sliding block；
131, the first rack；14, mounting hole；15, partition board；16, bearing；17, adjuster；171, baffle；172, adjusting rod；20, it connects
Flange.
Specific implementation mode
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
It should be noted that term used herein above is merely to describe specific implementation mode, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or combination thereof.
It should be noted that term " first " in the description and claims of this application and above-mentioned attached drawing, "
Two " etc. be for distinguishing similar object, without being used to describe specific sequence or precedence.It should be appreciated that using in this way
Data can be interchanged in the appropriate case, so that presently filed embodiment described herein for example can be in addition to herein
Sequence other than those of diagram or description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that
Be to cover it is non-exclusive include, for example, containing the process of series of steps or unit, method, system, product or equipment not
Those of be necessarily limited to clearly to list step or unit, but may include not listing clearly or for these processes, side
The intrinsic other steps of method, product or equipment or unit.
For ease of description, herein can with use space relative terms, as " ... on ", " in ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, if the device in attached drawing is squeezed, it is described as " in other devices
It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also other different modes positioning (be rotated by 90 ° or be in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
Shown in Fig. 1 to Fig. 5, according to an embodiment of the invention, a kind of turnover device of mechanical arm, the present embodiment are provided
In turnover device of mechanical arm include overturning drive device, connecting flange 20 and manipulator (not shown), when installation, machine
Tool hand is connected directly between by connecting flange 20 on overturning drive device, by turnover device of mechanical arm in this present embodiment
Manipulator is connect with overturning drive device, by the effect of overturning drive device, can directly be overturn with driving manipulator, not only be saved
About space is also convenient for control machinery hand overturning, is easy to implement the overall-in-one control schema of turnover device of mechanical arm.
Specifically, it is cylinder 10 that the overturning in the present embodiment, which drives the device, which includes cylinder body 11, rotating member
12 and sliding block 13, wherein installation cavity 111 is provided on cylinder body 11；Rotating member 12 is rotatably installed on cylinder body 11, rotation
There is part 12 linkage section 121 for stretching out in cylinder body 11, connecting flange 20 to be mounted on linkage section 121, convenient for being connect with manipulator
Together；Sliding block 13 is slidably mounted in installation cavity 111, and sliding block 13 is drivingly connected with rotating member 12 to drive rotating member
12 rotations.
When work, cylinder 10 boosts, the sliding in installation cavity 111 of sliding block 13, and then rotating member 12 is driven to rotate, to band
Dynamic manipulator rotation, it is simple in structure, it is easy to implement.
Preferably, the installation cavity 111 in the present embodiment is two, is separated by partition board 15 between two installation cavitys 111, is turned
Moving part 12 is located at the middle position of partition board 15；Sliding block 13 is two pieces, and two pieces of sliding blocks 13 are mounted on installation cavity 111 correspondingly
It is interior, and the glide direction of two pieces of sliding blocks 13 convenient for driving rotating member 12 on the contrary, rotate, stable structure is reliable, and service life is long.
When installation, rotating member 12 is provided with follower on sliding block 13, rotating member 12, be provided on sliding block 13 with from
The initiative part that dynamic portion is drivingly connected, is acted on by the drive connection of initiative part and follower, is convenient for the linear motion of sliding block 13
It is converted into the circular motion of rotating member 12, and then drives the manipulator rotation being mounted on rotating member 12.
Shown in Figure 1, the initiative part in the present embodiment is the first rack 131 being arranged on sliding block 13, the first rack
131 along sliding block 13 length direction extend, follower is the second rack 122 being arranged in 12 periphery of rotating member, passes through the first tooth
Item 131 and the engagement of the second rack 122, rotate convenient for driving rotating member 12.
In order to install rotating member 12, it is provided with mounting hole 14 on the cylinder body 11 in the present embodiment, when installation, rotating member 12 is logical
Bearing 16 is crossed in mounting hole 14, it is simple in structure, it is rotated convenient for rotating member 12.
Preferably, the first end of the installation cavity 111 in the present embodiment is provided with the adjusting of the stroke for adjusting slider 13
Device 17 is adjusted by the effect of the adjuster 17 convenient for the stroke to sliding block 13, and then to the rotational angle of rotating member 12
It is adjusted.
Specifically, adjuster 17 includes baffle 171 and adjusting rod 172, and baffle 171 is threaded in 111 end of installation cavity
Portion, adjusting rod 172 are fixedly mounted on baffle 171, and when adjusting stroke, driving regulating part 172 rotates, and then drives baffle 171
Rotation so that baffle 171 is moved along the length direction of installation cavity 111, and then carries out backstop to sliding block 13, to the stroke of sliding block 13
It is adjusted.
It recombines shown in Fig. 1 to Fig. 5, the connecting flange 20 in the present embodiment is L-shaped flange, convenient for being connect with manipulator
And installation, it is simple in structure, it is easy to implement.
Preferably, the turnover device of mechanical arm in the present embodiment further includes sensor (not shown) and controller (figure
In be not shown), sensor is used for the position of inspecting manipuator, and controller connect with sensor communication, controller receiving sensor
Signal control cylinder 10 be opened and closed.
Experiment proves that Gree is to realize head cover automatic stacking, 6700 manipulators are borrowed, in the ring flange of manipulator
One L-type flange of upper design can set adjuster 17 inside cylinder 10, for realizing difference with 10 connection in 90 ° of cylinder
Angle positions, and different angle positioning is realized according to different demands, to meet various rotation demands.
Cylinder 10 is connect with tooling clamp hand, is in interfix pattern, is easy to implement clamp hand horizontal location and is drawn head cover, in machine
When tool hands movement, when moving to certain position, by the position of sensor inspecting manipuator, and controller control is delivered a signal to
Baroswitch whether to realize that cylinder 10 is ventilated, forces rotating member 12 to rotate, to realize overturning, when shutting down after ventilation
After ventilation, clamp hand is rotated back to original position.
According to another aspect of the present invention, a kind of robot, including turnover device of mechanical arm, manipulator overturning dress are provided
The turnover device of mechanical arm being set in above-described embodiment.
It can be seen from the above description that the above embodiments of the present invention realize following technique effect：
Turnover device of mechanical arm of the present invention solves the problems, such as automatic turning during robot movement, while picking and placeing part
It realizes overturning, has saved time and space.
It these are only the preferred embodiment of the present invention, be not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.Any modification made by all within the spirits and principles of the present invention,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (11)
1. a kind of turnover device of mechanical arm, which is characterized in that including overturning drive device, connecting flange (20) and manipulator,
The manipulator is connected directly between by the connecting flange (20) on the overturning drive device.
2. turnover device of mechanical arm according to claim 1, which is characterized in that the overturning drive device is cylinder
(10), the cylinder (10) includes：
Cylinder body (11) is provided with installation cavity (111) on the cylinder body (11)；
Rotating member (12), the rotating member (12) are rotatably installed on the cylinder body (11), and the rotating member (12) has
The linkage section (121) of the cylinder body (11) is stretched out in, the connecting flange (20) is mounted on the linkage section (121)；
Sliding block (13), the sliding block (13) are slidably mounted in the installation cavity (111), and the sliding block (13) with it is described
Rotating member (12) is drivingly connected to drive the rotating member (12) to rotate.
3. turnover device of mechanical arm according to claim 2, which is characterized in that the installation cavity (111) is two, two
It is separated by partition board (15) between the installation cavity (111), the rotating member (12) is located at the centre position of the partition board (15)
Place；
The sliding block (13) is two pieces, and two pieces of sliding blocks (13) are mounted in the installation cavity (111) correspondingly, and two
The glide direction of sliding block described in block (13) is opposite.
4. turnover device of mechanical arm according to claim 2, which is characterized in that the rotating member (12) is perpendicular to the cunning
Block (13) is provided with follower on the rotating member (12), is provided on the sliding block (13) and the follower is drivingly connected
Initiative part.
5. turnover device of mechanical arm according to claim 4, which is characterized in that the initiative part is to be arranged in the sliding block
(13) the first rack (131) on, first rack (131) extends along the length direction of the sliding block (13), described driven
Portion is second rack (122) of the setting in the rotating member (12) periphery.
6. turnover device of mechanical arm according to claim 2, which is characterized in that be provided with mounting hole on the cylinder body (11)
(14), the rotating member (12) is mounted on by bearing (16) in the mounting hole (14).
7. turnover device of mechanical arm according to claim 2, which is characterized in that the first end of the installation cavity (111) is set
It is equipped with the adjuster (17) of the stroke for adjusting the sliding block (13).
8. turnover device of mechanical arm according to claim 7, which is characterized in that the adjuster (17) includes baffle
(171) and adjusting rod (172), the baffle (171) are screwed onto the installation cavity (111) end, and the adjusting rod (172) is fixed
On the baffle (171).
9. turnover device of mechanical arm according to claim 1, which is characterized in that the connecting flange (20) is L-shaped flange.
10. turnover device of mechanical arm according to claim 2, which is characterized in that the turnover device of mechanical arm further includes
Sensor and controller, the sensor are used to detect the position of the manipulator, the controller and the sensor communication
Connection, the signal that the controller receives the sensor control cylinder (10) opening and closing.
11. a kind of robot, including turnover device of mechanical arm, which is characterized in that the turnover device of mechanical arm is claim 1
To the turnover device of mechanical arm described in any one of 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810118802.0A CN108422409A (en) | 2018-02-06 | 2018-02-06 | Turnover device of mechanical arm and robot with it |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810118802.0A CN108422409A (en) | 2018-02-06 | 2018-02-06 | Turnover device of mechanical arm and robot with it |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108422409A true CN108422409A (en) | 2018-08-21 |
Family
ID=63156688
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810118802.0A Pending CN108422409A (en) | 2018-02-06 | 2018-02-06 | Turnover device of mechanical arm and robot with it |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108422409A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19519939C1 (en) * | 1995-06-02 | 1996-08-29 | Sommer Automatic Gmbh | Pivoting device for robotic handling unit |
| CN101676571A (en) * | 2008-09-18 | 2010-03-24 | Smc株式会社 | Double rack and pinion oscillating device |
| CN201544242U (en) * | 2009-12-04 | 2010-08-11 | 宁波伟立机器人科技有限公司 | Manipulator-type high-torque claw rotating cylinder |
| CN202140365U (en) * | 2011-06-13 | 2012-02-08 | 董玉芬 | Rotary swinging air cylinder |
| CN104632751A (en) * | 2015-01-05 | 2015-05-20 | 广西大学 | Piston type oscillating cylinder |
-
2018
- 2018-02-06 CN CN201810118802.0A patent/CN108422409A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19519939C1 (en) * | 1995-06-02 | 1996-08-29 | Sommer Automatic Gmbh | Pivoting device for robotic handling unit |
| CN101676571A (en) * | 2008-09-18 | 2010-03-24 | Smc株式会社 | Double rack and pinion oscillating device |
| CN201544242U (en) * | 2009-12-04 | 2010-08-11 | 宁波伟立机器人科技有限公司 | Manipulator-type high-torque claw rotating cylinder |
| CN202140365U (en) * | 2011-06-13 | 2012-02-08 | 董玉芬 | Rotary swinging air cylinder |
| CN104632751A (en) * | 2015-01-05 | 2015-05-20 | 广西大学 | Piston type oscillating cylinder |
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|---|---|---|---|
| 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: 20180821 |