CN108839013A - A kind of universal manipulator of industrial automation assembly line - Google Patents
A kind of universal manipulator of industrial automation assembly line Download PDFInfo
- Publication number
- CN108839013A CN108839013A CN201811054431.0A CN201811054431A CN108839013A CN 108839013 A CN108839013 A CN 108839013A CN 201811054431 A CN201811054431 A CN 201811054431A CN 108839013 A CN108839013 A CN 108839013A
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- CN
- China
- Prior art keywords
- motor
- loop bar
- assembly line
- industrial automation
- pedestal
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- 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.)
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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
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of universal manipulators of industrial automation assembly line in industrial processing technology field,Including pedestal,The center of top of the pedestal installs swingle by bearing,The top of the swingle turntable is installed by bearing,The top right side of the pedestal installs motor one,The bottom of the guide rod extends to the bottom outside and installation and adjustment bar of loop bar,Equal articulated robot arm pawl at left and right sides of the bottom of the loop bar,The universal manipulator of the industrial automation assembly line,Structure is relatively simple,By starting motor one,Driving wheel is set to drive turntable rotation,Manipulator is set arbitrarily to rotate in the plane,Start motor two simultaneously,Rotate shaft,Rotate loop bar,To enable gripper arbitrarily to rotate in the plane,Rotation matched combined of the manipulator in two planes,It can be realized the movement of any direction,Be conducive to improve working efficiency,Compared with traditional manipulator,Occupied area is smaller,It is convenient to use.
Description
Technical field
The present invention relates to industrial processing technology field, the universal manipulators of specially a kind of industrial automation assembly line.
Background technique
In field of industrial production, no matter in production process or the processes such as following process, packaging can all be used to various each
The tool or assembly of sample.Manipulator was more and more in recent years puts into industrial production line, and manipulator is with many excellent
Point：One, it can part replacement manual operation；Two, it can requirement according to the production process, it then follows certain program, the time and
The transmission and handling of workpiece are completed in position；Three, it can operate necessary equipment and be welded and assembled, to greatly improve
The working condition of worker significantly improves labor productivity, accelerates the paces for realizing industrial production mechanization and automation.
Manipulator used in industrial production at present, structure is complex, and occupied space is big, and use is complex, therefore,
It is proposed that a kind of universal manipulator of industrial automation assembly line.
Summary of the invention
The purpose of the present invention is to provide a kind of universal manipulators of industrial automation assembly line, to solve above-mentioned background skill
The problem of being proposed in art.
To achieve the above object, the present invention provides the following technical solutions：A kind of universal machinery of industrial automation assembly line
The center of top of hand, including pedestal, the pedestal installs swingle by bearing, and the top of the swingle is installed by bearing
Turntable is uniformly provided with ball, and the basal sliding setting of the top of ball and turntable, the top of the pedestal at the top of the pedestal
Motor one is installed, the top output port of the motor one installs driving wheel, and turntable is engaged in the left side of driving wheel, described on the right side of portion
Hydraulic device is installed at the top of turntable, and the top output port of the hydraulic device installs telescopic rod, the top peace of the telescopic rod
Fixed plate is filled, support plate is respectively mounted at left and right sides of the top of the fixed plate, motor two is installed on the right side of the left side support plate,
The right side output end of the motor two installs shaft, and loop bar, and shaft through Right side support plate and are installed in the right side of the shaft
It is fixed with the junction of Right side support plate by bearing, motor three is installed at the top of the loop bar, and the bottom of the motor three is defeated
Outlet installs bull stick, and the bottom of swingle extends to the intracavity bottom of loop bar and installs bearing, and sliding is set on the swingle
It is equipped with movable block, is respectively mounted guide rod at left and right sides of the bottom of the movable block, the bottom of the guide rod extends to loop bar
Bottom outside and installation and adjustment bar, the bottom left and right sides articulated robot arm pawl of the loop bar, and adjusting rod is slidably arranged in
Top half between two groups of mechanical paws passes through spring between mechanical paw described in two groups and connects.
Preferably, the ball grooves to match with ball are offered on the pedestal, and the bottom of turntable offers and ball
The annular groove to match.
Preferably, the mechanical paw is V-type mechanical paw, and the angle of V-type mechanical paw is 120 °.
Preferably, it is mounted on T-type sliding block at left and right sides of the adjusting rod, and is opened on the inside of the top half of mechanical paw
Set on the T-type sliding slot to match with T-type sliding block.
Preferably, rubber pad is equipped on the inside of the lower half portion of the mechanical paw, and rubber pad is equipped with concavo-convex sawtooth.
Preferably, the motor one, motor two and motor three are stepper motor, and between motor one and pedestal, motor
It is fixedly connected by welding between motor three and loop bar between two and Left-side support plate.
Compared with prior art, the beneficial effects of the invention are as follows：Industrial automation assembly line universal manipulator, the structure
It is relatively simple, by starting motor one, so that driving wheel is driven turntable rotation, manipulator is enable arbitrarily to rotate in the plane,
Start motor two simultaneously, rotates shaft, rotate loop bar, so that gripper is enable arbitrarily to rotate in the plane, it is mechanical
Rotation matched combined of the hand in two planes, can be realized the movement of any direction, be conducive to improve working efficiency, with tradition
Manipulator compare, occupied area is smaller, be easy to use.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention.
In figure：1 pedestal, 2 swingles, 3 turntables, 4 balls, 5 motors one, 6 driving wheels, 7 hydraulic devices, 8 telescopic rods, 9 are consolidated
Fixed board, 10 support plates, 11 motors two, 12 shafts, 13 loop bars, 14 motors three, 15 bull sticks, 16 movable blocks, 17 guide rods, 18 are adjusted
Bar, 19 groups of mechanical paws, 20 springs.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, the present invention provides a kind of technical solution：A kind of universal manipulator of industrial automation assembly line, packet
Pedestal 1 is included, the center of top of pedestal 1 installs swingle 2 by bearing, and turntable 3, bottom are installed by bearing in the top of swingle 2
The top of seat 1 is uniformly provided with ball 4, and the basal sliding of the top of ball 4 and turntable 3 is arranged, the top right side installation of pedestal 1
Motor 1, the top output port of motor 1 installs driving wheel 6, and turntable 3, the top peace of turntable 3 are engaged in the left side of driving wheel 6
Hydraulic device 7 is filled, the top output port of hydraulic device 7 installs telescopic rod 8, the top mounting plate 9 of telescopic rod 8, fixed plate 9
Top at left and right sides of be respectively mounted support plate 10, motor 2 11 is installed on the right side of Left-side support plate 10, and the right side of motor 2 11 is defeated
Outlet installs shaft 12, and loop bar 13 through Right side support plate 10 and is installed in the right side of shaft 12, and shaft 12 and Right side support plate
10 junction is fixed by bearing, and motor 3 14 is installed at the top of loop bar 13, and the bottom output end of motor 3 14 installs bull stick
15, and the bottom of swingle 15 extends to the intracavity bottom of loop bar 13 and installs bearing, sliding is provided with movement on swingle 15
The bottom left and right sides of block 16, movable block 16 is respectively mounted guide rod 17, and the bottom of guide rod 17 extends to outside the bottom of loop bar 13
Side and installation and adjustment bar 18, the bottom left and right sides articulated robot arm pawl 19 of loop bar 13, and adjusting rod 18 is slidably arranged in two
The top half between mechanical paw 19 is organized, is connected between two groups of mechanical paws 19 by spring 20, spring 20 is two groups mechanical
Pulling force is improved between gripper 19, and motor 1, motor 2 11 and motor 3 14 are connect by switch with external power supply.
Wherein, the ball grooves to match with ball 4 are offered on pedestal 1, and the bottom of turntable 3 offers and 4 phase of ball
Matched annular groove can be such that turntable 3 preferably rotates by the ball 4 of setting, while play the role of support to turntable 3；
Mechanical paw 19 is V-type mechanical paw, and the angle of V-type mechanical paw is 120 °, and it is right to be conducive to mechanical paw 19
Component is assembled；
The left and right sides of adjusting rod 18 is mounted on T-type sliding block, and the top half inside of mechanical paw 19 is opened in and T
The T-type sliding slot that type sliding block matches rotates bull stick 15, movable block 16 is on bull stick 15 to moving down by starting motor 3 14
It is dynamic, guide rod 17 is moved down, while move down adjusting rod 18, be closed two groups of mechanical paws 19, passes through control electricity
Machine 3 14 rotates forward or reversion, and then controls the folding of two groups of mechanical paws 19, facilitates clamping accessory；
Rubber pad is equipped on the inside of the lower half portion of mechanical paw 19, and rubber pad is equipped with concavo-convex sawtooth, can increase
Frictional force between the accessory and mechanical paw 19 of clamping；
Motor 1, motor 2 11 and motor 3 14 are stepper motor, and the rotation of stepper motor is with fixed angle one
Walk operation, be conducive to the angle for adjusting rotation, and between motor 1 and pedestal 1, motor 2 11 and Left-side support plate 10
Between be fixedly connected by welding between motor 3 14 and loop bar 13.
Working principle：In use, starting motor 1, makes driving wheel 6 that turntable 3 be driven to rotate, keep manipulator flat at this
It is arbitrarily rotated in face, starts hydraulic device 7, enable telescopic rod 8 that fixed plate 9 to be driven to be raised and lowered, while starting motor 2 11,
Shaft 12 is rotated, loop bar 13 is rotated, so that gripper 19 be enable arbitrarily to rotate in the plane, manipulator is flat at two
Rotation matched combined in face can be realized the movement of any direction, while under the action of hydraulic device 7, also be able to achieve machine
Tool on hand under movement, when needing to grab accessory, starting motor 3 14 rotate forward, make bull stick 15 rotate, movable block 16 is in bull stick 15
On move down, move down guide rod 17, while move down adjusting rod 18, be closed two groups of mechanical paws 19, grab
Take required accessory.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. a kind of universal manipulator of industrial automation assembly line, including pedestal (1), it is characterised in that：The top of the pedestal (1)
Swingle (2) are installed by bearing in portion center, and turntable (3) are installed by bearing in the top of the swingle (2), the pedestal
(1) it is uniformly provided at the top of ball (4), and the basal sliding of the top of ball (4) and turntable (3) is arranged, the pedestal (1)
Top right side installs motor one (5), and the top output port of the motor one (5) installs driving wheel (6), and a left side for driving wheel (6)
Turntable (3) are engaged in side, and hydraulic device (7) are installed at the top of the turntable (3), the top output port peace of the hydraulic device (7)
It fills telescopic rod (8), the top mounting plate (9) of the telescopic rod (8), pacifies at left and right sides of the top of the fixed plate (9)
It fills support plate (10), motor two (11) are installed on the right side of the left side support plate (10), the right side output of the motor two (11)
The right side of end installation shaft (12), the shaft (12) through Right side support plate (10) and is installed loop bar (13), and shaft (12)
It is fixed with the junction of Right side support plate (10) by bearing, motor three (14) are installed at the top of the loop bar (13), the electricity
The bottom output end of machine three (14) installs bull stick (15), and the bottom of swingle (15) extends to the intracavity bottom of loop bar (13) simultaneously
Bearing is installed, slides and is provided with movable block (16) on the swingle (15), at left and right sides of the bottom of the movable block (16)
It installs guide rod (17), the bottom of the guide rod (17) extends to the bottom outside and installation and adjustment bar (18) of loop bar (13),
Equal articulated robot arm pawl (19) at left and right sides of the bottom of the loop bar (13), and adjusting rod (18) is slidably arranged in two groups of manipulators
Top half between pawl (19) is connected by spring (20) between mechanical paw described in two groups (19).
2. a kind of universal manipulator of industrial automation assembly line according to claim 1, it is characterised in that：The pedestal
(1) ball grooves to match with ball (4) are offered on, and the bottom of turntable (3) offers the annular to match with ball (4)
Slot.
3. a kind of universal manipulator of industrial automation assembly line according to claim 1, it is characterised in that：The machinery
Gripper (19) is V-type mechanical paw, and the angle of V-type mechanical paw is 120 °.
4. a kind of universal manipulator of industrial automation assembly line according to claim 1, it is characterised in that：The adjusting
It is mounted on T-type sliding block at left and right sides of bar (18), and is opened in and T-type sliding block phase on the inside of the top half of mechanical paw (19)
Matched T-type sliding slot.
5. a kind of universal manipulator of industrial automation assembly line according to claim 1, it is characterised in that：The machinery
Rubber pad is equipped on the inside of the lower half portion of gripper (19), and rubber pad is equipped with concavo-convex sawtooth.
6. a kind of universal manipulator of industrial automation assembly line according to claim 1, it is characterised in that：The motor
One (5), motor two (11) and motor three (14) are stepper motor, and between motor one (5) and pedestal (1), motor two (11)
It is fixedly connected by welding between motor three (14) and loop bar (13) between Left-side support plate (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811054431.0A CN108839013A (en) | 2018-09-11 | 2018-09-11 | A kind of universal manipulator of industrial automation assembly line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811054431.0A CN108839013A (en) | 2018-09-11 | 2018-09-11 | A kind of universal manipulator of industrial automation assembly line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108839013A true CN108839013A (en) | 2018-11-20 |
Family
ID=64189121
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811054431.0A Pending CN108839013A (en) | 2018-09-11 | 2018-09-11 | A kind of universal manipulator of industrial automation assembly line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108839013A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109516425A (en) * | 2018-11-28 | 2019-03-26 | 吴磊 | A kind of vacuum Cover whirling Machine with the breakage-proof structure of elasticity |
| CN109822543A (en) * | 2019-03-28 | 2019-05-31 | 创泽智能机器人股份有限公司 | A kind of positioning navigation device based on robot ambulation |
| CN109899866A (en) * | 2019-02-25 | 2019-06-18 | 何桂华 | A kind of warm-air drier with humidification regulatory function for heating system |
| CN110026975A (en) * | 2019-05-16 | 2019-07-19 | 烟台汽车工程职业学院 | A kind of universal manipulator of industrial automation assembly line |
| CN110815198A (en) * | 2020-01-09 | 2020-02-21 | 佛山隆深机器人有限公司 | Detachable vehicle-mounted carrying manipulator |
| CN110919635A (en) * | 2019-12-17 | 2020-03-27 | 江苏昱博自动化设备有限公司 | Feeding and discharging power-assisted mechanical arm for spraying |
| CN110961836A (en) * | 2019-12-24 | 2020-04-07 | 广东技术师范大学 | Welding automation machinery hand |
| CN112618021A (en) * | 2020-12-23 | 2021-04-09 | 孙梦琪 | Medical mechanical auxiliary arm for sickbed knife opening |
-
2018
- 2018-09-11 CN CN201811054431.0A patent/CN108839013A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109516425A (en) * | 2018-11-28 | 2019-03-26 | 吴磊 | A kind of vacuum Cover whirling Machine with the breakage-proof structure of elasticity |
| CN109899866A (en) * | 2019-02-25 | 2019-06-18 | 何桂华 | A kind of warm-air drier with humidification regulatory function for heating system |
| CN109822543A (en) * | 2019-03-28 | 2019-05-31 | 创泽智能机器人股份有限公司 | A kind of positioning navigation device based on robot ambulation |
| CN110026975A (en) * | 2019-05-16 | 2019-07-19 | 烟台汽车工程职业学院 | A kind of universal manipulator of industrial automation assembly line |
| CN110919635A (en) * | 2019-12-17 | 2020-03-27 | 江苏昱博自动化设备有限公司 | Feeding and discharging power-assisted mechanical arm for spraying |
| CN110919635B (en) * | 2019-12-17 | 2020-08-07 | 江苏昱博自动化设备有限公司 | Feeding and discharging power-assisted mechanical arm for spraying |
| CN110961836A (en) * | 2019-12-24 | 2020-04-07 | 广东技术师范大学 | Welding automation machinery hand |
| CN110815198A (en) * | 2020-01-09 | 2020-02-21 | 佛山隆深机器人有限公司 | Detachable vehicle-mounted carrying manipulator |
| CN112618021A (en) * | 2020-12-23 | 2021-04-09 | 孙梦琪 | Medical mechanical auxiliary arm for sickbed knife opening |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181120 |
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| WD01 | Invention patent application deemed withdrawn after publication |