CN109531605A - A kind of robot device - Google Patents
A kind of robot device Download PDFInfo
- Publication number
- CN109531605A CN109531605A CN201811188335.5A CN201811188335A CN109531605A CN 109531605 A CN109531605 A CN 109531605A CN 201811188335 A CN201811188335 A CN 201811188335A CN 109531605 A CN109531605 A CN 109531605A
- Authority
- CN
- China
- Prior art keywords
- plate
- column
- pull rod
- pin shaft
- lead screw
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
Abstract
The invention discloses a kind of robot devices, including mounting base, cylinder pedestal is fixed on the mounting base, the upper end cover of cylinder pedestal is equipped with the pedestal cover board matched with cylinder pedestal, the pedestal cover board is equipped with rotating device, and the plate that vertically moves is gone up and down by the first feed screw apparatus；It is equipped on the connection cross bar by the second slider frame and moves horizontally plate, plate is moved horizontally to go up and down by the second feed screw apparatus, described move horizontally is fixed with front column by supporting block on plate, it is connected between the bottom end and supporting block of the front column by the first pin shaft, front column is connect with rear column by column link arm；Operation of the present invention is simple, facilitates easily-controllable；It occupies little space, large arm folding storage；The clamp device or so clamping, upper-lower compacting, grasping force are strong；The present invention can be filled by mounting base to be taken in various types of operation racks, and convenient for clamping various articles, and size is adjustable, applied widely.
Description
Technical field
The present invention relates to mechanical device fields, specifically, being related specifically to a kind of robot device.
Background technique
Manipulator is a kind of certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying object
Or the automatic pilot of operational instrument.Feature is that various expected operations can be completed by programming, on construction and performance
Have the advantage of people and robotics respectively concurrently.Manipulator is the industrial robot occurred earliest, and the modern times occurred earliest
Robot, with the development of network skill, direction that the networking operation problem of manipulator develops after being also.Industrial robot is
A kind of high-tech automated production equipment that recent decades grow up.Industry mechanical arm is one of industrial robot important
Branch, therefore, to existing technology, there is still a need for continuous perfect.
Summary of the invention
It is an object of the invention to aiming at the shortcomings in the prior art, provide a kind of robot device, to solve existing skill
The problem of art.
Technical problem solved by the invention can be realized using following technical scheme:
A kind of robot device, including mounting base, are fixed with cylinder pedestal on the mounting base, cylinder pedestal it is upper
End cap is equipped with the pedestal cover board matched with cylinder pedestal, and the pedestal cover board is equipped with rotating device, including floating bearing, rotation
Turn platform, the first speed reducer, swingle and rotating electric machine, first speed reducer connects upper end with swingle by shaft coupling
Rotating electric machine, and the swingle is successively arranged in rotating platform and floating bearing, the floating bearing be set to rotating platform with
Between pedestal cover board；The rotating platform is equipped with first support bar and second support bar, first support bar and second support bar
Between be equipped with connection cross bar；
Plate, the right side central for vertically moving plate are vertically moved by the connection of the first sliding block between the first support bar
The end of rear column is connected by hinging manner, the side of the rear column connects first motor, and the plate that vertically moves passes through
The lifting of first feed screw apparatus；It is equipped on the connection cross bar by the second slider frame and moves horizontally plate, move horizontally plate by the
The lifting of two feed screw apparatus, described move horizontally are fixed with front column, the bottom end of the front column and support by supporting block on plate
It is connected between block by the first pin shaft, rear column is corresponding with front column level to be equipped with the second pin shaft, and front column and rear column are logical
The connection of column link arm is crossed, the both ends of the column link arm are sheathed on respectively on the first pin shaft and the second pin shaft；The front column
Side is equipped with pull rod attachment base, and the bottom end of the pull rod attachment base is sheathed on the first pin shaft, the upper end connection of pull rod attachment base
There is the first pull rod；The upper end end of the front column and rear column is connected with large arm by third pin shaft, and the side of large arm is equipped with
Second pull rod, and the first pull rod is connect with the second pull rod by counter-jib；
The other end end of the large arm is connected with clamp device, the clamp device include clamping cylinder, decelerating motor,
Bending claws, swinging axle and oscillating deck, the lower end of the decelerating motor are equipped with the swivel bearing with chassis, and the lower end connection on chassis
There is mounting rack, the two sides of the lower end of the mounting rack are symmetrically arranged with the support of bearing, and the swinging axle is arranged in the support of bearing, folder
Tight cylinder connects swinging axle by linking arm, and the oscillating deck and oscillation bearing are sheathed on swinging axle, the both ends end of swinging axle
Portion passes through the fixed oscillating deck of swinging axle gland；Several bending claws are fixed by bending claws fixed body, the lower end connecting bending of oscillating deck
Pawl fixed body is symmetrically arranged with compression cylinder on the inside of described two supports of bearing, and the cylinder of compression cylinder connects air cylinder pressure plate.
Further, described, the first feed screw apparatus is identical as the structure of the second feed screw apparatus, the first feed screw apparatus packet
Lead screw base, lead screw and lead screw link block are included, the side of lead screw link block, which is fixedly connected, vertically moves plate, and lead screw base is fixed on rotation
On platform, lead screw is fixed on lead screw base, and lead screw is connect by feed screw nut with lead screw link block, and the feed screw apparatus passes through
First synchronous belt is connect with first motor.
Further, it is arranged with bearing holder (housing, cover) on first pin shaft, the second pin shaft and third pin shaft, and both ends end is equal
Bearing is connected by lock clasp part；The large arm is made of two blocks of large arm side plates, and large arm side plate is symmetrically sheathed on third pin
The both ends of axis.
Further, the counter-jib is triangular structure, and one jiao of counter-jib is by vertical before the connection of balance arm shaft bearing sleeve
On the third pin shaft of column, remaining two corners is separately connected the first pull rod and the second pull rod, and the both ends of the first pull rod pass through the first pull rod
Bulb is bolted with first, and the both ends of the second pull rod are bolted by the second tie rod ball with second.
Further, the decelerating motor is synchronous with second including the second speed reducer, the second motor, small pulley, big belt wheel
Band, the small pulley connect the output shaft of the second motor upper end, and big belt wheel is sheathed on the pulley shaft of the second speed reducer upper end, described
Big belt wheel passes through the second synchronous band connection with small pulley.
Compared with prior art, beneficial effects of the present invention are as follows:
Operation of the present invention is simple, facilitates easily-controllable；It occupies little space, large arm folding storage；Described clamp device or so folder
It takes, upper-lower compacting, grasping force is strong；The present invention can be filled by mounting base to be taken in various types of operation racks, and folder is convenient for
Various articles are taken, and size is adjustable, it is applied widely；The present invention can replace the heavy labor of people to realize production
Mechanization and automation can operate under hostile environment to protect personal safety, thus can be widely applied to machine-building, smelting
The departments such as gold, electronics, light industry and atomic energy.
Detailed description of the invention
Fig. 1 is a kind of single unit system figure of robot device of the present invention.
Fig. 2 is the structure chart of rotating device of the present invention.
Fig. 3 is a kind of local structural graph of robot device of the present invention.
Fig. 4 is the structure chart of clamp device of the present invention.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
Referring to Fig. 1 to Fig. 4, a kind of robot device of the present invention, including mounting base 11, the mounting base 11
On be fixed with cylinder pedestal 12, the upper end cover of cylinder pedestal 12 is equipped with the pedestal cover board 13 matched with cylinder pedestal, the base
Flap plate 13 is equipped with rotating device 2, including floating bearing 21, rotating platform 22, the first speed reducer 23, swingle 24 and rotation
Motor 25, first speed reducer 23 connect the rotating electric machine 25 of upper end, and the swingle by shaft coupling and swingle 24
24 are successively arranged in rotating platform 22 and floating bearing 21, the floating bearing 21 be set to rotating platform 22 and pedestal cover board 13 it
Between；The rotating platform 22 is equipped with first support bar 31 and second support bar 32, first support bar 31 and second support bar 32
Between be equipped with connection cross bar 33；
Plate 41, the right side for vertically moving plate 41 are vertically moved by the connection of the first sliding block between the first support bar 31
Middle side part connects the end of rear column 42 by hinging manner, and the side of the rear column 42 connects first motor 43, described to hang down
Translation movable plate 41 is gone up and down by the first feed screw apparatus 44；It is equipped on the connection cross bar 33 by the second slider frame and moves horizontally plate
51, move horizontally plate 51 and gone up and down by the second feed screw apparatus 52, it is described move horizontally be fixed on plate 51 by supporting block 53 before
Column 54 is connected between the bottom end and supporting block 53 of the front column 54 by the first pin shaft 55, rear column 42 and front column 54
Level is corresponding to be equipped with the second pin shaft, and front column 54 is connect with rear column 42 by column link arm 56, the column link arm 56
Both ends are sheathed on respectively on the first pin shaft 55 and the second pin shaft；The side of the front column 54 is equipped with pull rod attachment base 61, described
The bottom end of pull rod attachment base 61 is sheathed on the first pin shaft 55, and the upper end of pull rod attachment base 61 is connected with the first pull rod 62；It is described
The upper end end of front column 54 and rear column 42 is connected with large arm 63 by third pin shaft 66, and the side of large arm 63 is equipped with second and draws
Bar 64, and the first pull rod 62 is connect with the second pull rod 64 by counter-jib 65；
The other end end of the large arm 63 is connected with clamp device 7, and the clamp device 7 includes clamping cylinder 71, subtracts
The lower end of speed motor 72, bending claws 73, swinging axle 74 and oscillating deck 75, the decelerating motor 72 is equipped with the swivel bearing with chassis
76, and the lower end on chassis is connected with mounting rack 77, the two sides of the lower end of the mounting rack 77 are symmetrically arranged with the support of bearing 78, described
Swinging axle is arranged in the support of bearing 78, and clamping cylinder 71 connects swinging axle 74, the oscillating deck 75 and swing by linking arm
Bearing holder (housing, cover) is set on swinging axle 74, and the both ends end of swinging axle 74 passes through the fixed oscillating deck 75 of swinging axle gland；It is described several curved
Pawl 73 is fixed by bending claws fixed body 79, and the lower end of oscillating deck 75 connects bending claws fixed body 79, described two supports of bearing 78
Inside is symmetrically arranged with compression cylinder, and the cylinder of compression cylinder 81 connects air cylinder pressure plate 82.
Described, the first feed screw apparatus 44 is identical as the structure of the second feed screw apparatus 52, and first feed screw apparatus includes silk
Thick stick seat, lead screw and lead screw link block, the side of lead screw link block, which is fixedly connected, vertically moves plate, and lead screw base is fixed on rotating platform
On, lead screw is fixed on lead screw base, and lead screw is connect by feed screw nut with lead screw link block, and the feed screw apparatus passes through first
Synchronous belt is connect with first motor 43.
Bearing holder (housing, cover) is arranged on first pin shaft 55, the second pin shaft and third pin shaft 66, and both ends end passes through
Lock clasp part connects bearing；The large arm 63 is made of two blocks of large arm side plates, and large arm side plate is symmetrically sheathed on third pin shaft
66 both ends.
The counter-jib 65 is triangular structure, and one jiao of counter-jib 65 connects the of front column by balance arm shaft bearing sleeve
On three pin shafts 66, remaining two corners is separately connected the first pull rod 62 and the second pull rod 64, and the both ends of the first pull rod 62 are drawn by first
Bar bulb is bolted with first, and the both ends of the second pull rod 64 are bolted by the second tie rod ball with second.
The decelerating motor 72 includes the second speed reducer, the second motor, small pulley, big belt wheel and the second synchronous belt, described
Small pulley connects the output shaft of the second motor upper end, and big belt wheel is sheathed on the pulley shaft of the second speed reducer upper end, the big belt wheel
Pass through the second synchronous band connection with small pulley.
The present invention controls clamp device 7 by the first pull rod 62 and the second pull rod 64, and the clamp device 7 is by clamping gas
Cylinder 71 or so clamps, then passes through 82 upper-lower compacting of compression cylinder 81 and air cylinder pressure plate；First pull rod 62 passes through the first pin shaft
55 move up and down with bearing rotation, and the plate 41 that vertically moves is moved up and down by the first feed screw apparatus 44, and it is logical to move horizontally plate
It crosses the second feed screw apparatus 52 to move horizontally, and moves horizontally and vertically move plate 41 when plate 52 is moved to the left since column link arm 56 needs
It to move simultaneously.
Operation of the present invention is simple, facilitates easily-controllable；It occupies little space, large arm folding storage；The clamp device 7 or so presss from both sides
It takes, upper-lower compacting, grasping force is strong；The present invention can be filled by mounting base 11 and be taken in various types of operation racks, be convenient for
Various articles are clamped, and size is adjustable, it is applied widely.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (5)
1. a kind of robot device, it is characterised in that: including mounting base, cylinder pedestal, column are fixed on the mounting base
The upper end cover of body pedestal is equipped with the pedestal cover board matched with cylinder pedestal, and the pedestal cover board is equipped with rotating device, including
Floating bearing, rotating platform, the first speed reducer, swingle and rotating electric machine, first speed reducer pass through shaft coupling and rotation
Bar connects the rotating electric machine of upper end, and the swingle is successively arranged in rotating platform and floating bearing, and the floating bearing is set
Between rotating platform and pedestal cover board；The rotating platform is equipped with first support bar and second support bar, first support bar
Connection cross bar is equipped between second support bar；
Plate is vertically moved by the connection of the first sliding block between the first support bar, the right side central for vertically moving plate passes through
Hinging manner connects the end of rear column, and the side of the rear column connects first motor, and the plate that vertically moves is by first
Feed screw apparatus lifting；It is equipped on the connection cross bar by the second slider frame and moves horizontally plate, move horizontally plate by second
The lifting of thick stick device, described move horizontally are fixed with front column by supporting block on plate, the bottom end of the front column and supporting block it
Between connected by the first pin shaft, rear column is corresponding with front column level to be equipped with the second pin shaft, and front column and rear column, which pass through, to be stood
The connection of column link arm, the both ends of the column link arm are sheathed on respectively on the first pin shaft and the second pin shaft；The side of the front column
Equipped with pull rod attachment base, the bottom end of the pull rod attachment base is sheathed on the first pin shaft, and the upper end of pull rod attachment base is connected with
One pull rod；The upper end end of the front column and rear column is connected with large arm by third pin shaft, and the side of large arm is equipped with second
Pull rod, and the first pull rod is connect with the second pull rod by counter-jib；
The other end end of the large arm is connected with clamp device, and the clamp device includes clamping cylinder, decelerating motor, curved
The lower end of pawl, swinging axle and oscillating deck, the decelerating motor is equipped with the swivel bearing with chassis, and the lower end on chassis is connected with
Mounting rack, the two sides of the lower end of the mounting rack are symmetrically arranged with the support of bearing, and the swinging axle is arranged in the support of bearing, clamp
Cylinder connects swinging axle by linking arm, and the oscillating deck and oscillation bearing are sheathed on swinging axle, the both ends end of swinging axle
Pass through the fixed oscillating deck of swinging axle gland；Several bending claws are fixed by bending claws fixed body, and the lower end of oscillating deck connects bending claws
Fixed body is symmetrically arranged with compression cylinder on the inside of described two supports of bearing, and the cylinder of compression cylinder connects air cylinder pressure plate.
2. a kind of robot device according to claim 1, it is characterised in that: described, the first feed screw apparatus and second
The structure of thick stick device is identical, and first feed screw apparatus includes lead screw base, lead screw and lead screw link block, the side of lead screw link block
It is fixedly connected and vertically moves plate, lead screw base is fixed on rotating platform, and lead screw is fixed on lead screw base, and lead screw passes through lead screw spiral shell
Mother connect with lead screw link block, and the feed screw apparatus is connect by the first synchronous belt with first motor.
3. a kind of robot device according to claim 1, it is characterised in that: first pin shaft, the second pin shaft and
Bearing holder (housing, cover) is arranged on three pin shafts, and both ends end passes through lock clasp part connection bearing；The large arm is big by two pieces
Arm side plate composition, large arm side plate are symmetrically sheathed on the both ends of third pin shaft.
4. a kind of robot device according to claim 1, it is characterised in that: the counter-jib is triangular structure, is put down
It weighs one jiao of arm on the third pin shaft for connecting front column by balance arm shaft bearing sleeve, remaining two corners is separately connected the first pull rod and the
The both ends of two pull rods, the first pull rod are bolted by the first tie rod ball with first, and the both ends of the second pull rod are drawn by second
Bar bulb is bolted with second.
5. a kind of robot device according to claim 1, it is characterised in that: the decelerating motor includes the second deceleration
Machine, the second motor, small pulley, big belt wheel and the second synchronous belt, the small pulley connect the output shaft of the second motor upper end, big band
Wheel is sheathed on the pulley shaft of the second speed reducer upper end, and the big belt wheel passes through the second synchronous band connection with small pulley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811188335.5A CN109531605A (en) | 2018-10-12 | 2018-10-12 | A kind of robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811188335.5A CN109531605A (en) | 2018-10-12 | 2018-10-12 | A kind of robot device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109531605A true CN109531605A (en) | 2019-03-29 |
Family
ID=65844054
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811188335.5A Withdrawn CN109531605A (en) | 2018-10-12 | 2018-10-12 | A kind of robot device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109531605A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109940576A (en) * | 2019-04-25 | 2019-06-28 | 艾亮 | A kind of books pick-and-place robot |
| CN110281258A (en) * | 2019-07-16 | 2019-09-27 | 哈尔滨学院 | A kind of charge and discharge manipulator |
| CN111230909A (en) * | 2020-02-27 | 2020-06-05 | 周云飞 | Material grabbing manipulator for visual detection of automobile synchronizer |
| CN116038107A (en) * | 2022-09-30 | 2023-05-02 | 扬州市职业大学(扬州开放大学) | Device for processing recycled concrete and control method thereof |
-
2018
- 2018-10-12 CN CN201811188335.5A patent/CN109531605A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109940576A (en) * | 2019-04-25 | 2019-06-28 | 艾亮 | A kind of books pick-and-place robot |
| CN110281258A (en) * | 2019-07-16 | 2019-09-27 | 哈尔滨学院 | A kind of charge and discharge manipulator |
| CN111230909A (en) * | 2020-02-27 | 2020-06-05 | 周云飞 | Material grabbing manipulator for visual detection of automobile synchronizer |
| CN111230909B (en) * | 2020-02-27 | 2021-05-04 | 诸暨市港灵科技有限公司 | Material grabbing manipulator for visual detection of automobile synchronizer |
| CN116038107A (en) * | 2022-09-30 | 2023-05-02 | 扬州市职业大学(扬州开放大学) | Device for processing recycled concrete and control method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190329 |
|
| WW01 | Invention patent application withdrawn after publication |