CN108527339A - A kind of Intelligent mechanical arm device - Google Patents
A kind of Intelligent mechanical arm device Download PDFInfo
- Publication number
- CN108527339A CN108527339A CN201810522757.5A CN201810522757A CN108527339A CN 108527339 A CN108527339 A CN 108527339A CN 201810522757 A CN201810522757 A CN 201810522757A CN 108527339 A CN108527339 A CN 108527339A
- Authority
- CN
- China
- Prior art keywords
- portal frame
- guiding group
- manipulator clamping
- rack
- clamping jaw
- 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.)
- Granted
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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
- B25J9/026—Gantry-type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
Abstract
The present invention relates to manipulator technical fields, more particularly to a kind of Intelligent mechanical arm device, including rack, several manipulator clamping jaws, for the driving mechanism of driving manipulator clamping jaw movement, portal frame is set to rack, portal frame is enclosed with rack is set as accommodating space, driving mechanism is set to side of the portal frame far from rack, and manipulator clamping jaw is located in accommodating space；Driving mechanism includes X to drive component, Y-direction drive component and Z-direction drive component, X to drive component include several X to guiding group, Y-direction drive component includes at least two Y-direction guiding groups, Z-direction drive component includes two sliding shoes for controlling the Z-direction direction of motion, by installing portal frame in rack, and multiple X are installed to guiding group in the upper surface of portal frame, multiple Y-direction guiding groups and the sliding shoe for controlling the Z-direction direction of motion, so that the stroke of the reciprocating motion of manipulator clamping jaw increases, improve the running precision of manipulator clamping jaw and the stability of operation simultaneously, the setting of fixed plate, prevent the deformation of manipulator clamping jaw.
Description
Technical field
The present invention relates to manipulator technical field more particularly to a kind of Intelligent mechanical arm devices.
Background technology
Surface spraying is a manufacturing procedure for improving workpiece performance and cosmetic look, such as plastic parts, the base of metalwork
After part machine-shaping, then need to send to spraying area progress spray treatment, the patent document of Authorization Notice No. CN 207107835U：One
Material rotaring machine of the kind for spray paint production line has been disclosed for a kind of workpiece material rotaring machine, but has the following defects：
1, robot movement stroke distances are shorter, lead to the negligible amounts of manipulator grabbing device grabbing workpiece, production effect
Rate is low；
2, manipulator running precision is low, after especially the manipulator moves back and forth certain number, the clamping jaw and workpiece of manipulator
There is deviation in position, cannot normal grabbing workpiece；
3, occurs metaboly in manipulator loading process, the deformation of manipulator leads to manipulator grabbing device service life
It is shorter, cause the problem that production equipment is of high cost.
The presence of problem above causes the manipulator grabbing device that tradition uses that cannot meet production requirement, can not achieve
The purpose of automated production.
Invention content
Exist in the prior art that robot movement stroke distances are short, running precision is low and manipulator deformation is asked to overcome
Topic, the purpose of the present invention is to provide a kind of Intelligent mechanical arm devices so that the operation stroke of manipulator increases, while realizing and carrying
High running precision simultaneously prevents manipulator from deforming.
To achieve the above object, the technical scheme is that：
A kind of Intelligent mechanical arm device, including rack, several manipulator clamping jaws and for driving manipulator clamping jaw move
Driving mechanism, further include the portal frame set on rack, the portal frame is enclosed with rack is set as accommodating space, the driving mechanism
Set on side of the portal frame far from rack, several manipulator clamping jaws are located in accommodating space；
The driving mechanism includes X to drive component, Y-direction drive component and Z-direction drive component；
The X to drive component include for being oriented to manipulator clamping jaw along X to several the X moved to guiding group；
The Y-direction drive component includes the Y-direction guiding group moved along Y-direction for being oriented to manipulator clamping jaw, and the Y-direction is oriented to
It is mounted on side of the portal frame far from rack, each X is slidably connected to Y-direction guiding group to guiding group；
The Z-direction drive component includes the Z-direction guiding group for being oriented to manipulator clamping jaw elevating movement, and the Z-direction is oriented to
Group includes at least two spaced sliding panels and at least two Z-direction guide posts, and each sliding panel is slidably connected to guide X
To group, each Z-direction guide post is at least slidably connected with two sliding panels；
Further include the fixed plate for carrying several manipulator clamping jaws, the fixed plate is connected to Z-direction guiding group.
Further, the portal frame includes the top plate for being set to the side plate part of rack opposite sides and being connect with side plate part
Part, the driving mechanism are set to top board part.
Further, the Y-direction guiding group includes that two Y-direction guide rails being mutually parallel and the Y-direction being connect with Y-direction guide rail are slided
Block, the Y-direction sliding block are connect with X to guiding group, and two Y-direction guide rails are respectively arranged on the opposite both ends of portal frame.
Further, each X includes X to guiding group to holder, set on X at least two X direction guiding rails of holder
And the X coordinated with X direction guiding rails, to sliding block, X is connect to holder with Y-direction sliding block.
Further, the sliding panel is slidably connected to X direction guiding rails via X to sliding block.
Further, the Intelligent mechanical arm device further includes Y-direction transmission component, and the Y-direction transmission component includes that Y-direction passes
Lever and Y-direction driving source for driving Y-direction drive rod rotation, the Y-direction driving source are set to portal frame, the Y-direction drive link
For driving X to be translated to guiding group along Y-direction guiding group.
Further, the Y-direction driving source includes the Y-direction motor set on portal frame and the set on Y-direction motor output end
One straight bevel gear, the Y-direction drive link are equipped with the second straight bevel gear, the second straight bevel gear and the first circular cone straight-tooth
Wheel engagement.
Beneficial effects of the present invention：By installing portal frame in the upper surface of rack, and installed in the upper surface of portal frame
Multiple X are to guiding group and multiple Y-direction guiding groups so that the stroke of the reciprocating motion of manipulator clamping jaw increases, while improving machinery
The running precision of hand clamping jaw and the stability of operation, the setting of fixed plate prevent the deformation of manipulator clamping jaw.
Description of the drawings
Fig. 1 is the main view schematic diagram of the present invention；
Fig. 2 is the dimensional structure diagram of the present invention；
Fig. 3 is the partial structural diagram of the present invention；
Fig. 4 is the left view planar structure schematic diagram of the present invention；
Fig. 5 is the Y-direction transmission component structural schematic diagram of the present invention.
Reference numeral includes：
1-rack 2-manipulator, 3-driving mechanism of clamping jaw
31-X are to 311-X of guiding group to holder 312-X direction guiding rails
313-X are to sliding block 32-Y-direction guiding 321-Y-direction guide rail of group
322-Y-direction sliding block 323-Y-direction transmission component 3231-Y-direction driving sources
32311-Y-direction motor the 32312-the first straight bevel gear 3232-Y-direction drive links
32321-the second straight bevel gear 33-Z-direction guiding 331-sliding panel of group
332-Z-direction guide post 333-Z-direction, 4-portal frames of rotating bar
41-side plate part 42-top board part, 5-accommodating spaces
6-fixed plates.
Specific implementation mode
For the ease of the understanding of those skilled in the art, the present invention is made further with reference to embodiment and attached drawing
Bright, the content that embodiment refers to not is limitation of the invention.
It please refers to Fig.1 to Fig. 5, a kind of Intelligent mechanical arm device of the invention, including rack 1, several manipulator clamping jaws 2
And the driving mechanism 3 moved for driving manipulator clamping jaw 2, further include the portal frame 4 set on rack 1, the portal frame 4 and machine
Frame 1, which encloses, is set as accommodating space 5, and the driving mechanism 3 is set to side of the portal frame 4 far from rack 1, several manipulator clamping jaws 2
In accommodating space 5；
The driving mechanism 3 includes X to drive component, Y-direction drive component and Z-direction drive component；
The X to drive component include for being oriented to manipulator clamping jaw 2 along X to several the X moved to guiding group 31；
The Y-direction drive component includes the Y-direction guiding group 32 moved along Y-direction for being oriented to manipulator clamping jaw 2, the Y-direction
Guiding group 32 is set to side of the portal frame 4 far from rack 1, and each X is slidably connected to Y-direction guiding group to guiding group 31
32；
The Z-direction drive component includes the Z-direction guiding group 33 for being oriented to 2 elevating movement of manipulator clamping jaw, and the Z-direction is led
Include at least two spaced sliding panels 331 and at least two Z-direction guide posts 332 to group 33, each sliding panel 331 is slided
To guiding group 31, each Z-direction guide post 332 is at least slidably connected with two sliding panels 331 the dynamic X that is connected to；
Further include the fixed plate 6 for carrying several manipulator clamping jaws 2, the fixed plate 6 is connected to Z-direction guiding group
33。
Specifically, in the present embodiment, portal frame 4 is set to the upper end of rack 1, and portal frame 4 is inverted u-shaped, several manipulators
Clamping jaw 2 is active in accommodating space 5, and driving mechanism 3 is installed on the upper end of portal frame 4, and the wherein quantity of Y-direction guiding group 32 is two
A, Y-direction guiding group 32 is respectively arranged on the left and right sides of 4 upper surface of portal frame, X to the quantity of guiding group 31 be two, two X to
31 spacing of guiding group is arranged and is connected as one by connector, while being moved along the length direction of Y-direction guiding group 32, portal frame
4 setting is had sufficient space to install X to guiding group 31 and Y-direction guiding group 32, is gone to movement using the X for increasing manipulator clamping jaw 2
Journey, while settings of multiple X to guiding group 31 and multiple Y-direction guiding groups 32 improve the stability and fortune of 2 operation of manipulator clamping jaw
The precision of line direction.
The quantity of sliding panel 331 is two, one of them is set to X to the top of guiding group 31, another is set to X to guiding
The quantity of the bottom of group 31, Z-direction guide post 332 is four, and each Z-direction guide post 332 both passes through two sliding panels 331, Z-direction driving electricity
Machine driving Z-direction rotating bar 333 moves up and down, while fixed plate 6 being driven to move up and down, and the spacing of two sliding panels 331 is set
It sets so that when Z-direction guide post 332 moves up and down, direction has stability.
Several manipulator clamping jaws 2 are fixed on the lower section of fixed plate 6, realize the convenience of installation and maintenance, make simultaneously
The movement of manipulator clamping jaw 2 has simultaneity.
By installing portal frame 4 in the upper surface of rack 1 so that the stroke of the reciprocating motion of manipulator clamping jaw 2 increases, and leads to
It crosses and multiple X is installed to guiding group 31, multiple Y-direction guiding groups 32 and Z-direction guiding group 33 at the top of portal frame 4 so that manipulator
Clamping jaw 2 all has the stability of traffic direction when X is moved to, Y-direction and Z-direction respectively, realizes the operation for improving manipulator clamping jaw 2
The purpose of precision.
The portal frame 4 includes the top board part 42 for being set to the side plate part 41 of 1 opposite sides of rack and being connect with side plate part 41,
The driving mechanism 3 is set to top board part 42, and side plate part 41 is in openning type shape, and top board part 42 is in openning type shape, by metal side tube
It is process, there is stronger bearing capacity.
The Y-direction guiding group 32 includes two Y-direction guide rails 321 being mutually parallel, and each Y-direction guide rail 321 is equipped with Y-direction cunning
Block 322, the Y-direction sliding block 322 are connect with X to guiding group 31, and it is opposite that two Y-direction guide rails 321 are respectively arranged on portal frame 4
Both ends.
Each X includes X to guiding group 31 to holder 311, set on X at least two X direction guiding rails of holder 311
312 and with X direction guiding rails 312 coordinate X to sliding block 313, X is connect to holder 311 with Y-direction sliding block 322.
The sliding panel 331 is slidably connected to X direction guiding rails 312 via X to sliding block 313.
X is two to the quantity of holder 311, and X is made to holder 311 of the metal tube of strip, and each X is to holder 311
Upper surface install an X direction guiding rail 312, each X to the lower face of holder 311 install an X direction guiding rail 312, the present embodiment
In, if there are four X direction guiding rails 312, the quantity of sliding panel 311 is two, one of sliding panel 311 by X to sliding block 313 with
Both the above X direction guiding rails 312 are slidably connected, and one of sliding panel 311 is by X to sliding block 313 and following two X direction guiding rails
312 are slidably connected, it is ensured that the accuracy that manipulator clamping jaw 2 is moved in X-direction, while two X are connected to holder 311 by two
Piece connects, and two connection sheets are located at X to the opposite two side ends of holder 311 so that two X are led along Y-direction simultaneously to holder 311
Rail 321 moves, and the setting of two Y-direction guide rails 321 further increases the accuracy that manipulator clamping jaw 2 moves in the Y direction.
Z-direction guide post 332 is connect with fixed plate 6,6 trapezoidal tabular of fixed plate, and fixed plate 6 is close to extraneous spraying conveyor line
Side several manipulator clamping jaws 2 are installed, fixed plate 6 is equipped with extraneous tracheae connector, and extraneous air source passes through a tracheae
Connector and a manipulator clamping jaw 2 are connected, and the place without any object in fixed plate 6 is cut away, fixed plate 6 itself is reduced
Weight, improve the load weight of manipulator clamping jaw 2, reduce energy consumption.
The Intelligent mechanical arm device further includes Y-direction transmission component 323, and the Y-direction transmission component 323 is driven including Y-direction
Bar 3232 and for drive Y-direction drive link 3232 rotate Y-direction driving source 3231, the Y-direction driving source 3231 be set to portal frame
4, the Y-direction drive link 3232 is for driving X to be translated to guiding group 31 along Y-direction guiding group 32, the both ends point of Y-direction drive link 3232
Chain is not connected, and the rotation of chain drives X to be moved to guiding group 31 in Y-direction, further increases Y-direction robust motion.
The Y-direction driving source 3231 includes being exported set on the Y-direction motor 32311 of portal frame 4 and set on Y-direction motor 32311
First straight bevel gear 32312 at end, the Y-direction drive link 3232 are equipped with the second straight bevel gear 32321, the second circular cone straight-tooth
Wheel 32321 is engaged with first straight bevel gear 32312, by engaging for gear and gear, not only improves running precision, together
When Shi Shixian start and stop when speed instantaneous variation, equipment is still stable, that is, realizes the steady of 2 movement of manipulator clamping jaw
Property, improve service life of equipment and service precision.
The above content is only presently preferred embodiments of the present invention, for those of ordinary skill in the art, according to the present invention
Thought, there will be changes in the specific implementation manner and application range, and the content of the present specification should not be construed as to the present invention
Limitation.
Claims (7)
1. a kind of Intelligent mechanical arm device, including rack (1), several manipulator clamping jaws (2) and it is used for driving manipulator clamping jaw
(2) mobile driving mechanism (3), it is characterised in that：Further include the portal frame (4) set on rack (1), the portal frame (4) with
Rack (1), which is enclosed, is set as accommodating space (5), and the driving mechanism (3) is set to side of the portal frame (4) far from rack (1), several
Manipulator clamping jaw (2) is located in accommodating space (5)；
The driving mechanism (3) includes X to drive component, Y-direction drive component and Z-direction drive component；
The X to drive component include for being oriented to manipulator clamping jaw (2) along X to several the X moved to guiding group (31)；
The Y-direction drive component includes the Y-direction guiding group (32) moved along Y-direction for being oriented to manipulator clamping jaw (2), the Y-direction
Guiding group (32) is set to side of the portal frame (4) far from rack (1), and each X is slidably connected to Y-direction to guiding group (31)
Guiding group (32)；
The Z-direction drive component includes the Z-direction guiding group (33) for being oriented to manipulator clamping jaw (2) elevating movement, and the Z-direction is led
Include at least two spaced sliding panels (331) and at least two Z-direction guide posts (332), each sliding to group (33)
Plate (331) is slidably connected to X to guiding group (31), and each Z-direction guide post (332) is at least slided with two sliding panels (331)
Connection；
Further include the fixed plate (6) for carrying several manipulator clamping jaws (2), the fixed plate (6) is connected to Z-direction guiding group
(33)。
2. Intelligent mechanical arm device according to claim 1, it is characterised in that：The portal frame (4) includes being set to rack
(1) the side plate part (41) of opposite sides and the top board part (42) being connect with side plate part (41), the driving mechanism (3) are set to top plate
Part (42).
3. Intelligent mechanical arm device according to claim 2, it is characterised in that：The Y-direction guiding group (32) includes two
The Y-direction guide rail (321) being mutually parallel and the Y-direction sliding block (322) being connect with Y-direction guide rail (321), the Y-direction sliding block (322) and X
It is connected to guiding group (31), two Y-direction guide rails (321) are respectively arranged on the opposite both ends of portal frame (4).
4. Intelligent mechanical arm device according to claim 3, it is characterised in that：Each X is wrapped to guiding group (31)
Include X to holder (311), be set at least two X direction guiding rails (312) and the X that with X direction guiding rail (312) coordinates of the X to holder (311)
To sliding block (313), X is connect to holder (311) with Y-direction sliding block (322).
5. Intelligent mechanical arm device according to claim 4, it is characterised in that：The sliding panel (331) is via X to sliding block
(313) X direction guiding rails (312) are slidably connected to.
6. Intelligent mechanical arm device according to claim 1, it is characterised in that：The Intelligent mechanical arm device further includes Y
To transmission component (323), the Y-direction transmission component (323) includes Y-direction drive link (3232) and for driving Y-direction drive link
(3232) the Y-direction driving source (3231) rotated, the Y-direction driving source (3231) are set to portal frame (4), the Y-direction drive link
(3232) it is used to that X to be driven to translate along Y-direction guiding group (32) to guiding group (31).
7. Intelligent mechanical arm device according to claim 6, it is characterised in that：The Y-direction driving source (3231) includes setting
Y-direction motor (32311) in portal frame (4) and the first straight bevel gear (32312) set on Y-direction motor (32311) output end,
The Y-direction drive link (3232) is equipped with the second straight bevel gear (32321), the second straight bevel gear (32321) and described first
Straight bevel gear (32312) engages.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810522757.5A CN108527339B (en) | 2018-05-28 | 2018-05-28 | Intelligent mechanical arm device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810522757.5A CN108527339B (en) | 2018-05-28 | 2018-05-28 | Intelligent mechanical arm device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108527339A true CN108527339A (en) | 2018-09-14 |
| CN108527339B CN108527339B (en) | 2023-07-28 |
Family
ID=63473046
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810522757.5A Active CN108527339B (en) | 2018-05-28 | 2018-05-28 | Intelligent mechanical arm device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108527339B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113305255A (en) * | 2021-07-05 | 2021-08-27 | 常熟非凡新材股份有限公司 | Forging stock conveying device for stamping steel balls |
| CN113385600A (en) * | 2021-07-05 | 2021-09-14 | 常熟非凡新材股份有限公司 | Three-coordinate movement device for steel ball billet clamping manipulator |
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| CN208358805U (en) * | 2018-05-28 | 2019-01-11 | 东莞市铧光自动化机械有限公司 | A kind of Intelligent mechanical arm device |
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| US20090155039A1 (en) * | 2007-11-12 | 2009-06-18 | Dujardin Paul-Eric | Multi-axis robot for high-speed applications |
| CN103213121A (en) * | 2013-04-28 | 2013-07-24 | 苏州博实机器人技术有限公司 | Three-freedom-degree table tennis carrying mechanical arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113305255A (en) * | 2021-07-05 | 2021-08-27 | 常熟非凡新材股份有限公司 | Forging stock conveying device for stamping steel balls |
| CN113385600A (en) * | 2021-07-05 | 2021-09-14 | 常熟非凡新材股份有限公司 | Three-coordinate movement device for steel ball billet clamping manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108527339B (en) | 2023-07-28 |
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Address after: 523000 Shangsha Industrial Road, Xiasha Village, Shipai Town, Dongguan City, Guangdong Province Applicant after: DONGGUAN HUAGON AUTOMATION Co.,Ltd. Address before: 523387 Hanxi Water Industrial Zone, Chashan Town, Dongguan City, Guangdong Province Applicant before: DONGGUAN HUAGON AUTOMATION Co.,Ltd. |
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