CN109719749A - A kind of four line high speed machine hands - Google Patents

A kind of four line high speed machine hands Download PDF

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Publication number
CN109719749A
CN109719749A CN201910132132.2A CN201910132132A CN109719749A CN 109719749 A CN109719749 A CN 109719749A CN 201910132132 A CN201910132132 A CN 201910132132A CN 109719749 A CN109719749 A CN 109719749A
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China
Prior art keywords
several
servo motor
arm
arms
mobile jib
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Granted
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CN201910132132.2A
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Chinese (zh)
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CN109719749B (en
Inventor
苑诗宾
王川
杨凡
牟威
刘道德
刘浩
曾自立
张艳
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Zhejiang Qicheng Intelligent Technology Co Ltd
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Zhejiang Qicheng Intelligent Technology Co Ltd
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Publication of CN109719749A publication Critical patent/CN109719749A/en
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Abstract

The invention discloses a kind of four line high speed machine hands, including pedestal, several first-hand finger assemblies, several second finger components, first arm, several second arms, several third arms, several carrying support bases, first servo motor carries support base, first servo motor, mobile jib, second servo motor, synchronizing wheel, synchronous belt, the base interior is equipped with the second servo motor, second servo motor is sequentially connected by screw rod and mobile jib, the mobile jib extends the side of pedestal, the present invention is by matching first servo motor with synchronizing wheel, so that arm can be run simultaneously with first servo motor;So that arm can realize back-and-forth motion;Servo motor and screw rod cooperate, so that mobile jib and the second servo motor are run simultaneously;Screw rod bar is arranged so that arm can be realized moves left and right, easy to use;The setting of finger component is so that transport pallet can preferably realize positioning, and transport pallet is not susceptible to deviate, easy to use.

Description

A kind of four line high speed machine hands
[technical field]
The present invention relates to the technical fields of the technical field of mechanical equipment, especially manipulator.
[background technique]
Manipulator is a kind of common mechanical equipment, is often used cooperatively with other mechanical equipments.Manipulator often may be used To carry out multidirectional movement.Existing manipulator often synchronizes not ideal enough when being moved, and can not meet well It is required that
[summary of the invention]
The object of the invention is to solve the problems of the prior art, proposes a kind of four line high speed machine hands, can make Manipulator has good high-speed synchronous.
To achieve the above object, the invention proposes a kind of four line high speed machine hands, including pedestal, several first fingers Component, several second finger components, the first arm, several second arms, several third arms, several carrying support bases, first Servo motor carries support base, first servo motor, mobile jib, the second servo motor, synchronizing wheel, synchronous belt, the pedestal Inside is equipped with the second servo motor, and second servo motor is sequentially connected by screw rod and mobile jib, and the mobile jib extends The side of pedestal out, the mobile jib, which extends, is uniformly provided with several carrying support bases, the mobile jib below base end Upper end is equipped with the first arm close to base end, and first arm is connected with the second arm far from one end of pedestal, described The second arm other end is equipped with third arm, second arm and third arm, and with this sequence, successively interval is arranged, described The first arm, several second arms, side is also uniformly provided with several first-hand finger assemblies and several on several third arms Second-hand finger assembly, the first-hand finger assembly and second finger component are successively spaced setting, between the carrying support base Support base is carried equipped with first servo motor, the first servo motor carries support base upper end and is equipped with first servo motor, Synchronizing wheel is equipped on the mobile jib at first servo motor, the first servo motor rotary shaft passes through synchronous belt It is sequentially connected with synchronizing wheel.
Preferably, be equipped on first arm, the second arm, third arm can with first-hand finger assembly and The long gain of second finger component cooperation, the first-hand finger assembly, second finger component and the movable connection of long gain.
Preferably, the first servo motor drives mobile jib, several first-hand finger assemblies, several second finger groups Part, several first arms, several second arms, several third arms realize that product moves horizontally in X-axis.
Preferably, second servo motor drives mobile jib, several first-hand finger assemblies, several second finger groups Part, several first arms, several second arms, several third arms realize that product moves horizontally on the y axis.
Preferably, the carrying support base top is additionally provided with guide rail.
Four line high speed machine hands of one kind of the invention the utility model has the advantages that the present invention by by first servo motor and synchronizing wheel It matches, so that arm can be run simultaneously with first servo motor;So that arm can realize back-and-forth motion;Servo motor and screw rod Cooperation, so that mobile jib and the second servo motor are run simultaneously;Screw rod bar is arranged so that arm can be realized moves left and right.User Just;The setting of finger component is so that transport pallet can preferably realize positioning, and transport pallet is not susceptible to deviate, easy to use.
Feature and advantage of the invention will be described in detail by embodiment combination attached drawing.
[Detailed description of the invention]
Fig. 1 is a kind of four line high speed machine hand structural schematic diagram perspective views of the invention;
Fig. 2 is a kind of four line high speed machine hand structural schematic diagram main views of the invention;
Fig. 3 is that four line high speed machine hand structural schematic diagrams of the invention a kind of are bowed body figure;
Fig. 4 is a kind of working motion track of four line high speed machine hands of the invention.
In figure: the first-hand finger assembly of 1- pedestal, 2-, 3- second finger component, 4- guide rail, the first arm of 5-, 6- second Arm, 7- third arm, 8- carry support base, 9- first servo motor carries support base, 10- first servo motor, 11- master Bar, the second servo motor of 12-, 13- synchronizing wheel, 14- synchronous belt, 15- long gain.
[specific embodiment]
Refering to fig. 1, Fig. 2 and Fig. 3, the present invention four line high speed machine hands of one kind, including pedestal 1, several first finger groups Part 2, several second finger components 3, the first arm 5, several second arms 6, several third arms 7, several carrying support bases 8, First servo motor carries support base 9, first servo motor 10, mobile jib 11, the second servo motor 12, synchronizing wheel 13, synchronous skin Band 14, the second servo motor 12 is equipped with inside the pedestal 1, and second servo motor 12 is passed by screw rod and mobile jib 11 Dynamic connection, the mobile jib 11 extend the side of pedestal 1, are uniformly provided with below 1 end of pedestal if the mobile jib 11 extends Several carrying support bases 8 are done, 11 upper end of mobile jib is equipped with the first arm 5 close to 1 end of pedestal, and first arm 5 is remote One end from pedestal 1 is connected with the second arm 6, and 6 other end of the second arm is equipped with third arm 7, the second-hand Successively interval is arranged with this sequence for arm 6 and third arm 7, first arm 5, several second arms 6, several third arms Side is also uniformly provided with several first-hand finger assemblies 2 and several second finger components 3, the first-hand finger assembly 2 and on 7 Second-hand finger assembly 3 is successively spaced setting, and first servo motor is equipped between the carrying support base 9 and carries support base 9, described First servo motor carry 9 upper end of support base and be equipped with first servo motor 10, close to the first servo electricity on the mobile jib 11 Synchronizing wheel 13 is equipped at machine 10,10 rotary shaft of first servo motor is connected by synchronous belt 14 and the transmission of synchronizing wheel 13 It connects, first arm 5, the second arm 6, be equipped on third arm 7 can be with first-hand finger assembly 2 and second finger group The long gain 15 that part 3 cooperates, the first-hand finger assembly 2, second finger component 3 and the movable connection of long gain 15 are described First servo motor 10 drive mobile jib 11, several first-hand finger assemblies 2, several second finger components 3, several first arms 5, Several second arms 6, several third arms 7 realize that product moves horizontally in X-axis, and second servo motor 12 passes through silk Bar transmission driving mobile jib 11, several first-hand finger assemblies 2, several second finger components 3, several first arms 5, several second-hands Arm 6, several third arms 7 realize that product moves horizontally on the y axis, and 9 top of carrying support base is additionally provided with guide rail 4.
The course of work of the present invention:
Four line high speed machine hands of one kind of the invention drive mobile jib 11 along X, Y-axis during the work time, by Robotic Host Feeding is moved, is then placed in punching machine mold, works repeatedly, front and back transmission uses first servo motor 10+ synchronizing wheel 13+ Synchronous belt 14+ mobile jib 11, first servo motor 10 drive all mobile jibs 11 to rotate by synchronizing wheel mechanism, and mobile jib 11 passes through gear Rotary motion is converted linear motion by rackwork, and all first-hand finger assemblies 2 and second are driven under the action of guide rail 4 Finger component 3 is moved along X-axis, and left and right transmission uses the second servo motor 12+ screw rod 11, and a whole set of manipulator passes through X-axis and Y-axis Servo motor operating, first-hand finger assembly 2, second finger component 3 can be achieved at the same time the movement along X and Y-axis.The work of the mechanism It is as shown in Figure 4 to make motion profile: first-hand finger assembly 2, second finger component 3 are accelerated by A point to B point, are slightly done and are stopped in B point It stays, after receiving first-hand finger assembly 2, the detection signal on second finger component 3, C point is moved to by the acceleration of B point, and in C Point slightly stops, and the residence time is adjustable;Then first-hand finger assembly 2, second finger component 3 back to home D point it Afterwards, X, Y-direction first servo motor 10 and the second servo motor 12 drive simultaneously, return to A point with most fast speed.
Above-described embodiment is the description of the invention, is not limitation of the invention, after any pair of simple transformation of the present invention Scheme all belong to the scope of protection of the present invention.

Claims (5)

1. a kind of four line high speed machine hands, it is characterised in that: including pedestal (1), several first-hand finger assemblies (2), Ruo Gan Second-hand finger assembly (3), the first arm (5), several second arms (6), several third arms (7), several carrying support bases (8), First servo motor carries support base (9), first servo motor (10), mobile jib (11), the second servo motor (12), synchronizing wheel (13), synchronous belt (14), the pedestal (1) is internal to be equipped with the second servo motor (12), second servo motor (12) it is sequentially connected by screw rod and mobile jib (11), the mobile jib (11) extends the side of pedestal (1), the mobile jib (11) extend pedestal (1) end lower section and be uniformly provided with several carrying support bases (8), the mobile jib (11) upper end is close to base Seat (1) end is equipped with the first arm (5), and first arm (5) is connected with the second arm (6), institute far from the one end of pedestal (1) The second arm (6) other end stated is equipped with third arm (7), second arm (6) and third arm (7) with this sequentially according to Minor tick setting, first arm (5), several second arms (6), side is also uniformly provided on several third arms (7) Several first-hand finger assemblies (2) and several second finger components (3), the first-hand finger assembly (2) and second finger component (3) successively interval setting is equipped with first servo motor between the carrying support base (9) and carries support base (9), and described the One servo motor carries support base (9) upper end and is equipped with first servo motor (10), close to the first servo on the mobile jib (11) Synchronizing wheel (13) are equipped at motor (10), the first servo motor (10) rotary shaft passes through synchronous belt (14) and synchronizing wheel (13) it is sequentially connected.
2. four line high speed machine hands of one kind as described in claim 1, it is characterised in that: first arm (5), second The long gain that can cooperate with first-hand finger assembly (2) and second finger component (3) is equipped on arm (6), third arm (7) (15), the first-hand finger assembly (2), second finger component (3) and long gain (15) movable connection.
3. four line high speed machine hands of one kind as described in claim 1, it is characterised in that: the first servo motor (10) Drive mobile jib (11), several first-hand finger assemblies (2), several second finger components (3), several first arms (5), several second Arm (6), several third arms (7) realize that product moves horizontally in X-axis.
4. four line high speed machine hands of one kind as described in claim 1, it is characterised in that: second servo motor (12) Mobile jib (11), several first-hand finger assemblies (2), several second finger components (3), several first arms are driven by screw rod transmission (5), several second arms (6), several third arms (7) realize that product moves horizontally on the y axis.
5. four line high speed machine hands of one kind as described in claim 1, it is characterised in that: carrying support base (9) top End is additionally provided with guide rail (4).
CN201910132132.2A 2019-02-22 2019-02-22 Four-wire high-speed manipulator Active CN109719749B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910132132.2A CN109719749B (en) 2019-02-22 2019-02-22 Four-wire high-speed manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910132132.2A CN109719749B (en) 2019-02-22 2019-02-22 Four-wire high-speed manipulator

Publications (2)

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CN109719749A true CN109719749A (en) 2019-05-07
CN109719749B CN109719749B (en) 2024-02-27

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Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE9007740U1 (en) * 1990-01-25 1995-02-09 Mannesmann AG, 40213 Düsseldorf Handling device for handling workpieces
CN202070689U (en) * 2011-04-22 2011-12-14 谭伟 Full-servo multi-station automatic transferring manipulator
CN202088506U (en) * 2011-04-18 2011-12-28 苏州青林自动化设备有限公司 Multiple press machines connection-type mechanical hand
CN203426307U (en) * 2013-07-18 2014-02-12 东莞市井田自动化设备有限公司 Multi-machine wired transmission manipulator
CN203526380U (en) * 2013-09-18 2014-04-09 东莞市井田自动化设备有限公司 Mechanical arm conveying device achieving on-line automatic stamping through multiple stamping devices
CN203992096U (en) * 2014-06-16 2014-12-10 上海泽翼自动化设备有限公司 Stamping mechanical arm
CN104444314A (en) * 2014-11-20 2015-03-25 珠海格力电器股份有限公司 Conveying device on production line
WO2017052217A1 (en) * 2015-09-23 2017-03-30 한재형 Material conveying system
CN209699127U (en) * 2019-02-22 2019-11-29 浙江启成智能科技有限公司 A kind of four line high speed machine hands

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE9007740U1 (en) * 1990-01-25 1995-02-09 Mannesmann AG, 40213 Düsseldorf Handling device for handling workpieces
CN202088506U (en) * 2011-04-18 2011-12-28 苏州青林自动化设备有限公司 Multiple press machines connection-type mechanical hand
CN202070689U (en) * 2011-04-22 2011-12-14 谭伟 Full-servo multi-station automatic transferring manipulator
CN203426307U (en) * 2013-07-18 2014-02-12 东莞市井田自动化设备有限公司 Multi-machine wired transmission manipulator
CN203526380U (en) * 2013-09-18 2014-04-09 东莞市井田自动化设备有限公司 Mechanical arm conveying device achieving on-line automatic stamping through multiple stamping devices
CN203992096U (en) * 2014-06-16 2014-12-10 上海泽翼自动化设备有限公司 Stamping mechanical arm
CN104444314A (en) * 2014-11-20 2015-03-25 珠海格力电器股份有限公司 Conveying device on production line
WO2017052217A1 (en) * 2015-09-23 2017-03-30 한재형 Material conveying system
CN209699127U (en) * 2019-02-22 2019-11-29 浙江启成智能科技有限公司 A kind of four line high speed machine hands

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