CN108748248A - A kind of logistics machinery arm device - Google Patents
A kind of logistics machinery arm device Download PDFInfo
- Publication number
- CN108748248A CN108748248A CN201810820601.5A CN201810820601A CN108748248A CN 108748248 A CN108748248 A CN 108748248A CN 201810820601 A CN201810820601 A CN 201810820601A CN 108748248 A CN108748248 A CN 108748248A
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- CN
- China
- Prior art keywords
- fixed
- plate
- seat
- horizontal
- cylinder
- 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
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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
- B25J15/08—Gripping heads and other end effectors having finger members
-
- 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
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0293—Gripping heads and other end effectors servo-actuated comprising parallel grippers having fingers directly connected to actuator
-
- 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
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of logistics machinery arm devices, including fixed plate, retracting cylinder, mounting plate, retracting cylinder includes vertical cylinder, inserted link, guide holder, motor cabinet, first servo motor, annular fixed block, the left and right sides outer wall of annular fixed block is respectively fixed with an engaging lug, the output shaft of first servo motor is connected with a vertical lead screw by a first shaft coupling respectively, and vertical lead screw passes through corresponding engaging lug and is slidably connected by screw thread with engaging lug；The bottom of mounting plate is fixed with fixed handgrip, the right side that the bottom of mounting plate is located at fixed handgrip is symmetrically fixed with first member plate and right end plate, a guiding cross bar is fixed between first member plate and right end plate, it is oriented to sliding sleeve on cross bar and is equipped with a sliding seat, the bottom of sliding seat is connected with movable handgrip by connecting plate, the bottom of mounting plate, which is located on the right side of right end plate, is fixed with a seat board, and an automatic impeller for ' is fixed between seat board and connecting plate.Advantage is：Length is adjustable.
Description
Technical field
The present invention relates to a kind of logistics machinery arm devices.
Background technology
In order to improve efficiency, people usually use manipulator as transfer tool, and Chinese patent 201621280874.8 was once
A kind of manipulator, including left claw, left pawl, right median claw, right pawl, rocking arm, horizon bar and supporting plate are disclosed, is installed on horizon bar left
Pawl, left pawl, right median claw, right pawl and supporting plate, rocking arm drive horizon bar to realize rotary motion, and left claw is under the promotion of left claw driver
Along left claw guide rail move back and forth, right pawl right pawl driver promotion under along right pawl guide rail move back and forth, left claw movement after with
Left pawl clamps human arm together, and human arm is clamped together with right median claw after right pawl movement.The inventive structure simple and compact,
Angle when human body sits up can be controlled, energy clamping arm ensures that position of human body is fixed, ensures reliability when human body attitude changes,
It can be adjusted according to build difference.But the length of the manipulator cannot make adjustment according to the needs of user, use not
It is convenient.
Invention content
The problem to be solved in the present invention is to provide a kind of length-adjustable logistics machinery arm device.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：
A kind of logistics machinery arm device, including fixed plate, retracting cylinder, mounting plate, which is characterized in that the retracting cylinder includes
The inserted link for being fixed on the vertical cylinder of the fixed plate bottom, being fixed on the mounting plate top plate is sliding in the inner cavity of the vertical cylinder
Dynamic to be provided with a guide holder, the top of the inserted link extends in the inner cavity of the vertical cylinder and connects with the bottom end of the guide holder
It connects, the left and right sides both sides outer wall of the vertical cylinder is respectively fixed with a motor cabinet, and the bottom of the motor cabinet is separately installed with
The outer wall of one first servo motor, the inserted link is fixed with annular fixed block, the left and right sides outer wall point of the annular fixed block
It is not fixed with an engaging lug, the output shaft of the first servo motor is connected with a vertical thread by a first shaft coupling respectively
Bar, the vertical lead screw pass through corresponding engaging lug and are slidably connected by screw thread with the engaging lug；The mounting plate
Bottom be fixed with fixed handgrip, the right side that the bottom of the mounting plate is located at the fixed handgrip is symmetrically fixed with first member plate
And right end plate, a guiding cross bar is fixed between the first member plate and right end plate, sliding sleeve is equipped with a cunning on the guiding cross bar
Dynamic seat, the bottom of the sliding seat are connected with movable handgrip by connecting plate, and the bottom of the mounting plate is located at the right end plate
Right side be fixed with a seat board, an automatic impeller for ' is fixed between the seat board and the connecting plate.
Preferably, above-mentioned logistics machinery arm device, wherein the bottom of the vertical cylinder is fixed with a limiting plate, it is described to insert
Bar passes through the limiting plate and is slidably connected with the limiting plate.
Preferably, above-mentioned logistics machinery arm device, wherein the bottom of the vertical thread bar is fixed with a limited block.
Preferably, above-mentioned logistics machinery arm device, wherein the automatic impeller for ' includes being fixed on the seat board
The first circular seat, the horizontal cylinder being fixed in first circular seat, the second circular seat, solid for being fixed on the connecting plate
The horizontal tube being scheduled in second circular seat, the inner wall of first circular seat are fixed with one second servo motor, and described
The output shaft of two servo motors is connected with horizontal lead screw by second shaft coupling, and the free end of the horizontal tube extends to the water
It in the inner cavity of flat cylinder and is set on the horizontal lead screw, the inner wall of the horizontal tube is provided with matches with horizontal lead screw sliding
Close the internal thread of connection.
Preferably, above-mentioned logistics machinery arm device, wherein end of the horizontal cylinder far from first circular seat is solid
There are the second circular seat, the horizontal tube to pass through second circular seat and be slidably connected with second circular seat surely.
Preferably, above-mentioned logistics machinery arm device, wherein the outer wall of the horizontal tube is fixed at least two guide pads,
The inner wall of the horizontal cylinder is provided at least two guide grooves, the guide pad along the length direction of the horizontal cylinder and is led with described
It is corresponded to slot and the guide pad is extended in corresponding guide groove and is slidably connected with the guide groove.
Preferably, above-mentioned logistics machinery arm device, wherein the quantity of the guide pad is two.
Preferably, above-mentioned logistics machinery arm device, guide pad described in two of which are symmetrical arranged.
The present invention's has the technical effect that：
(1), the rotation of first servo motor can drive vertical lead screw to rotate, since vertical lead screw and engaging lug pass through spiral shell
Line connects so that engaging lug moves up and down on vertical lead screw, is further driven to inserted link up and down motion, which achieves the present invention
Length adjustment, be easy to use, high degree of automation；
(2), movable handgrip can be driven to move by adjusting the length of automatic impeller for ', and then realizes fixation and grabs
Separating between hand, movable handgrip and close up, ensure that enough clamping forces.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the longitudinal sectional view of retracting cylinder in Fig. 1；
Fig. 3 is the structural schematic diagram of automatic impeller for ' in Fig. 1；
Fig. 4 is the A-A of horizontal cylinder in Fig. 3 to structural schematic diagram.
Specific implementation mode
Below in conjunction with attached drawing, the specific implementation mode of the present invention is further described, so that the technical side of the present invention
Case is more readily understood and grasps.
As shown in Figure 1,2,3, 4, a kind of logistics machinery arm device, including fixed plate 11, retracting cylinder 2, mounting plate 41.
Retracting cylinder 2 includes the vertical cylinder 21 for being fixed by screws in 11 bottom of fixed plate, is welded on 41 top plate of mounting plate
Inserted link 22, in the inner cavity of vertical cylinder 21 sliding be provided with a guide holder 23, the top of inserted link 22 extends to the inner cavity of vertical cylinder 21
In and weld with the bottom end of guide holder 23, the left and right sides both sides outer wall of vertical cylinder 21 is respectively welded a motor cabinet 24, motor
The bottom of seat 24 is equipped with a first servo motor 25 by bolt respectively, and the outer wall of inserted link 22 is fixed with annular fixed block 26,
The left and right sides outer wall of annular fixed block 26 is respectively fixed with an engaging lug 27, and the output shaft of first servo motor 25 passes through respectively
One first shaft coupling 250 is connected with a vertical lead screw 28, and vertical lead screw 28 passes through corresponding engaging lug 27 and leads to engaging lug 27
Cross screw thread sliding connection.
The bottom of mounting plate 41 is welded with fixed handgrip 410, and the bottom of mounting plate 41 is right positioned at the right side of fixed handgrip 410
The welding of title has first member plate 42 and right end plate 43 surely, and a guiding cross bar 44 is welded between first member plate 42 and right end plate 43, is oriented to
Sliding sleeve is equipped with a sliding seat 45 on cross bar 44, and the bottom of sliding seat 45 is connected with movable handgrip 47 by connecting plate 46, installs
The right side that the bottom of plate 41 is located at right end plate 43 is welded with a seat board 48, and one is fixed between seat board 48 and connecting plate 46 and is pushed away automatically
Dynamic device 6.
The bottom of vertical cylinder 21 in the present invention is welded with a limiting plate 211, inserted link 22 pass through limiting plate 211 and with limit
Plate 211 is slidably connected, and design in this way prevents inserted link 22 to shake.
The bottom of vertical lead screw 28 in the present invention is welded with a limited block 281, and design in this way prevents engaging lug 27 de-
From vertical lead screw 28.
Automatic impeller for ' 6 includes the first circular seat 61 being fixed by screws on seat board 48, is welded on the first circle
Seat 61 on horizontal cylinder 62, be fixed by screws on connecting plate 46 the second circular seat 63, be welded in the second circular seat 63
Horizontal tube 64, the inner wall of the first circular seat 61 is fixed with one second servo motor 65 by screw, the second servo motor 65
Output shaft is connected with horizontal lead screw 67 by second shaft coupling 66, and the free end of horizontal tube 64 extends in the inner cavity of horizontal cylinder 62
And be set on horizontal lead screw 67, the inner wall of horizontal tube 64 is provided with the internal thread 68 being slidably connected with horizontal lead screw 67.
The rotation of second servo motor 65 can drive horizontal lead screw 67 to rotate, since horizontal lead screw 67 and horizontal tube 64 are connected by screw thread
It connecing so that horizontal tube 64 slides on horizontal lead screw 67, which achieves the length adjustment of automatic impeller for ' 6, by adjusting
The length of automatic impeller for ' 6 may be implemented separating between fixed handgrip 410, movable handgrip 47 and close up.
End of the horizontal cylinder 62 far from the first circular seat 61 in the present invention is welded with the second circular seat 621, horizontal tube 64
It is slidably connected across the second circular seat 621 and with the second circular seat 621, design in this way prevents horizontal tube 64 to shake.
There are two guide pads 81 for the outer wall fixation of horizontal tube 64 in the present invention, and the inner wall of horizontal cylinder 62 is along horizontal cylinder 62
Length direction is provided with two guide grooves 82, and guide pad 81 is corresponded with guide groove 82 and guide pad 81 extends to corresponding lead
It is slidably connected into slot 82 and with guide groove 82, design in this way prevents horizontal tube 64 to be rotated together with horizontal lead screw 67.
In the description of the present invention, it is to be understood that, the indicating positions such as term "upper", "lower", "left", "right" or position
Relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, without referring to
Show or implies that signified device or element must have a particular orientation and specific azimuth configuration and operation, it is thus impossible to
It is interpreted as limitation of the present invention.In addition, " first ", " second " are merely due to describe purpose, and should not be understood as indicating or imply
Relative importance or the quantity for implicitly indicating indicated technical characteristic.Therefore, define " first ", the feature of " second " can
To express or implicitly include one or more this feature.In description of the invention, unless otherwise indicated, " multiples' " contains
Justice is two or more.
Claims (8)
1. a kind of logistics machinery arm device, including fixed plate, retracting cylinder, mounting plate, it is characterised in that：The retracting cylinder includes solid
The inserted link for being scheduled on the vertical cylinder of the fixed plate bottom, being fixed on the mounting plate top plate slides in the inner cavity of the vertical cylinder
It is provided with a guide holder, the top of the inserted link extends in the inner cavity of the vertical cylinder and connects with the bottom end of the guide holder
It connects, the left and right sides both sides outer wall of the vertical cylinder is respectively fixed with a motor cabinet, and the bottom of the motor cabinet is separately installed with
The outer wall of one first servo motor, the inserted link is fixed with annular fixed block, the left and right sides outer wall point of the annular fixed block
It is not fixed with an engaging lug, the output shaft of the first servo motor is connected with a vertical thread by a first shaft coupling respectively
Bar, the vertical lead screw pass through corresponding engaging lug and are slidably connected by screw thread with the engaging lug；The mounting plate
Bottom be fixed with fixed handgrip, the right side that the bottom of the mounting plate is located at the fixed handgrip is symmetrically fixed with first member plate
And right end plate, a guiding cross bar is fixed between the first member plate and right end plate, sliding sleeve is equipped with a cunning on the guiding cross bar
Dynamic seat, the bottom of the sliding seat are connected with movable handgrip by connecting plate, and the bottom of the mounting plate is located at the right end plate
Right side be fixed with a seat board, an automatic impeller for ' is fixed between the seat board and the connecting plate.
2. logistics machinery arm device according to claim 1, it is characterised in that：The bottom of the vertical cylinder is fixed with a limit
Position plate, the inserted link pass through the limiting plate and are slidably connected with the limiting plate.
3. logistics machinery arm device according to claim 1 or 2, it is characterised in that：The bottom of the vertical lead screw is fixed
There is a limited block.
4. logistics machinery arm device according to claim 1 or 2, it is characterised in that：The automatic impeller for ' includes solid
The first circular seat for being scheduled on the seat board, is fixed on the connecting plate the horizontal cylinder being fixed in first circular seat
The second circular seat, the horizontal tube that is fixed in second circular seat, the inner wall of first circular seat is fixed with one second
Servo motor, the output shaft of second servo motor are connected with horizontal lead screw by second shaft coupling, the horizontal tube from
It is extended in the inner cavity of the horizontal cylinder and is set on the horizontal lead screw by end, the inner wall of the horizontal tube is provided with and institute
State the internal thread of horizontal lead screw sliding connection.
5. logistics machinery arm device according to claim 4, it is characterised in that：The horizontal cylinder is round far from described first
The end of seat is fixed with the second circular seat, and the horizontal tube, which passes through second circular seat and slided with second circular seat, to be connected
It connects.
6. logistics machinery arm device according to claim 1, it is characterised in that：The outer wall of the horizontal tube is fixed at least
The inner wall of two guide pads, the horizontal cylinder is provided at least two guide grooves along the length direction of the horizontal cylinder, described to lead
It is corresponded to block with the guide groove and the guide pad is extended in corresponding guide groove and slided with the guide groove and connected
It connects.
7. logistics machinery arm device according to claim 6, it is characterised in that：The quantity of the guide pad is two.
8. logistics machinery arm device according to claim 7, it is characterised in that：Two guide pads are symmetrical arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810820601.5A CN108748248A (en) | 2018-07-24 | 2018-07-24 | A kind of logistics machinery arm device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810820601.5A CN108748248A (en) | 2018-07-24 | 2018-07-24 | A kind of logistics machinery arm device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108748248A true CN108748248A (en) | 2018-11-06 |
Family
ID=63970873
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810820601.5A Pending CN108748248A (en) | 2018-07-24 | 2018-07-24 | A kind of logistics machinery arm device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108748248A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110842905A (en) * | 2020-01-15 | 2020-02-28 | 佛山隆深机器人有限公司 | Carrying manipulator with anti-collision mechanism |
| CN113561164A (en) * | 2021-05-19 | 2021-10-29 | 四川犍小茉科技有限公司 | Mechanical arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20000026826A (en) * | 1998-10-23 | 2000-05-15 | 김형벽 | Robot hand |
| CN206663271U (en) * | 2017-03-30 | 2017-11-24 | 包头职业技术学院 | A kind of machine-building grabbing device |
| CN206906774U (en) * | 2017-04-18 | 2018-01-19 | 揭阳市永盛电脑有限公司 | A kind of computer teaching servicing unit |
| CN207008278U (en) * | 2017-06-24 | 2018-02-13 | 胡菊兰 | A kind of projecting apparatus for possessing elevating function |
| CN107984469A (en) * | 2017-12-29 | 2018-05-04 | 东莞市奇趣机器人科技有限公司 | A kind of Industrial robots Mechanical's crawl arm |
| CN207449788U (en) * | 2017-11-30 | 2018-06-05 | 陆兴华 | A kind of pedestrian's alarm set for vehicle |
| CN208614820U (en) * | 2018-07-24 | 2019-03-19 | 广西师范学院 | A kind of logistics machinery arm device |
-
2018
- 2018-07-24 CN CN201810820601.5A patent/CN108748248A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20000026826A (en) * | 1998-10-23 | 2000-05-15 | 김형벽 | Robot hand |
| CN206663271U (en) * | 2017-03-30 | 2017-11-24 | 包头职业技术学院 | A kind of machine-building grabbing device |
| CN206906774U (en) * | 2017-04-18 | 2018-01-19 | 揭阳市永盛电脑有限公司 | A kind of computer teaching servicing unit |
| CN207008278U (en) * | 2017-06-24 | 2018-02-13 | 胡菊兰 | A kind of projecting apparatus for possessing elevating function |
| CN207449788U (en) * | 2017-11-30 | 2018-06-05 | 陆兴华 | A kind of pedestrian's alarm set for vehicle |
| CN107984469A (en) * | 2017-12-29 | 2018-05-04 | 东莞市奇趣机器人科技有限公司 | A kind of Industrial robots Mechanical's crawl arm |
| CN208614820U (en) * | 2018-07-24 | 2019-03-19 | 广西师范学院 | A kind of logistics machinery arm device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110842905A (en) * | 2020-01-15 | 2020-02-28 | 佛山隆深机器人有限公司 | Carrying manipulator with anti-collision mechanism |
| CN113561164A (en) * | 2021-05-19 | 2021-10-29 | 四川犍小茉科技有限公司 | Mechanical arm |
| CN113561164B (en) * | 2021-05-19 | 2023-08-29 | 四川犍小茉科技有限公司 | Mechanical arm |
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Address after: No. 175 Mingxiu East Road, Nanning City, Guangxi Zhuang Autonomous Region, 531001 Applicant after: NANNING NORMAL University Address before: Guangxi Normal University, No. 175, Mingxiu East Road, Nanning City, Guangxi Zhuang Autonomous Region, 531001 Applicant before: Guangxi Normal University |