CN109719749B - Four-wire high-speed manipulator - Google Patents

Four-wire high-speed manipulator Download PDF

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Publication number
CN109719749B
CN109719749B CN201910132132.2A CN201910132132A CN109719749B CN 109719749 B CN109719749 B CN 109719749B CN 201910132132 A CN201910132132 A CN 201910132132A CN 109719749 B CN109719749 B CN 109719749B
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Prior art keywords
arm
servo motor
finger
arms
base
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CN201910132132.2A
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CN109719749A (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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Abstract

The invention discloses a four-wire high-speed manipulator which comprises a base, a plurality of first finger assemblies, a plurality of second finger assemblies, a first arm, a plurality of second arms, a plurality of third arms, a plurality of carrying support seats, a first servo motor carrying support seat, a first servo motor, a main rod, a second servo motor, a synchronous wheel and a synchronous belt, wherein the second servo motor is arranged in the base and is in transmission connection with the main rod through a screw rod, and the main rod extends out of one side of the base; so that the arm can move back and forth; the servo motor is matched with the screw rod, so that the main rod and the second servo motor synchronously run; the screw rod is arranged to enable the arm to move left and right, so that the use is convenient; the setting of finger subassembly makes the realization location that the transport seat can be better, and the difficult skew that takes place of transport seat, convenient to use.

Description

Four-wire high-speed manipulator
[ field of technology ]
The invention relates to the technical field of mechanical equipment, in particular to the technical field of manipulators.
[ background Art ]
A manipulator is a common type of mechanical device that is often used in conjunction with other mechanical devices. The robot arm may often perform multi-directional movements. The existing mechanical arm is often not ideal in synchronization when moving, and can not well meet the requirements
[ invention ]
The invention aims to solve the problems in the prior art and provides a four-wire high-speed manipulator which can have good high-speed synchronism.
In order to achieve the above purpose, the invention provides a four-wire high-speed manipulator which comprises a base, a plurality of first finger assemblies, a plurality of second finger assemblies, a first arm, a plurality of second arms, a plurality of third arms, a plurality of carrying support seats, a first servo motor carrying support seat, a first servo motor, a main rod, a second servo motor, a synchronous wheel and a synchronous belt, wherein the second servo motor is arranged in the base, the second servo motor is in transmission connection with the main rod through a screw rod, the main rod extends out of one side of the base, the plurality of carrying support seats are uniformly arranged below the end of the main rod extending out of the base, the end, close to the base, of the upper end of the main rod is provided with the first arm, one end, far away from the base, of the first arm is connected with the second arm, the other end of the second arm is provided with the third arm, the second arm and the third arm are sequentially arranged at intervals, the first arm, the plurality of first finger assemblies and the second finger assemblies are uniformly arranged on one side of the second arm, the first arm and the first servo motor are sequentially connected with the first servo motor, the first arm is sequentially provided with the synchronous wheel and the synchronous belt is arranged between the first finger assemblies and the first servo motor, and the first servo motor is sequentially arranged at intervals, and the first servo motor is connected with the first servo seat, and the synchronous wheel is arranged at a position, and close to the first servo seat, and a synchronous wheel is arranged between the servo motor is in transmission position between the first servo motor and a synchronous wheel.
Preferably, the first arm, the second arm and the third arm are respectively provided with a long waist groove which can be matched with the first finger assembly and the second finger assembly, and the first finger assembly, the second finger assembly and the long waist grooves are movably connected.
Preferably, the first servo motor drives the main rod, the plurality of first finger assemblies, the plurality of second finger assemblies, the plurality of first arms, the plurality of second arms and the plurality of third arms to realize that the product horizontally moves on the X axis.
Preferably, the second servo motor drives the main rod, the plurality of first finger assemblies, the plurality of second finger assemblies, the plurality of first arms, the plurality of second arms and the plurality of third arms to realize that the product moves horizontally on the y axis.
Preferably, the top end of the carrying support seat is also provided with a guide rail.
The four-wire high-speed manipulator has the beneficial effects that: according to the invention, the first servo motor is matched with the synchronous wheel, so that the arm can synchronously run with the first servo motor; so that the arm can move back and forth; the servo motor is matched with the screw rod, so that the main rod and the second servo motor synchronously run; the screw rod is arranged to enable the arm to move left and right. The use is convenient; the setting of finger subassembly makes the realization location that the transport seat can be better, and the difficult skew that takes place of transport seat, convenient to use.
The features and advantages of the present invention will be described in detail by way of example with reference to the accompanying drawings.
[ description of the drawings ]
FIG. 1 is a schematic perspective view of a four-wire high-speed manipulator according to the present invention;
FIG. 2 is a front view of a schematic diagram of a four-wire high-speed manipulator according to the present invention;
FIG. 3 is a schematic plan view of a four-wire high-speed manipulator according to the present invention;
fig. 4 is a working motion trace of a four-wire high-speed manipulator of the present invention.
In the figure: 1-base, 2-first finger subassembly, 3-second finger subassembly, 4-guide rail, 5-first arm, 6-second arm, 7-third arm, 8-transport supporting seat, 9-first servo motor transport supporting seat, 10-first servo motor, 11-mobile jib, 12-second servo motor, 13-synchronizing wheel, 14-synchronous belt, 15-long waist groove.
[ detailed description ] of the invention
Referring to fig. 1, 2 and 3, the four-wire high-speed manipulator of the invention comprises a base 1, a plurality of first finger assemblies 2, a plurality of second finger assemblies 3, a first arm 5, a plurality of second arms 6, a plurality of third arms 7, a plurality of carrying support seats 8, a first servo motor carrying support seat 9, a first servo motor 10, a main rod 11, a second servo motor 12, a synchronous wheel 13 and a synchronous belt 14, wherein the second servo motor 12 is arranged in the base 1, the second servo motor 12 is in transmission connection with the main rod 11 through a screw rod, the main rod 11 extends out of one side of the base 1, a plurality of carrying support seats 8 are uniformly arranged below the end of the main rod 11 extending out of the base 1, the upper end of the main rod 11 is close to the end of the base 1 and provided with the first arm 5, one end of the first arm 5 far away from the base 1 is connected with the second arm 6, the other end of the second arm 6 is provided with a third arm 7, the second arm 6 and the third arm 7 are sequentially arranged at intervals in the sequence, one side of the first arm 5, the second arms 6 and the third arms 7 is uniformly provided with a plurality of first finger assemblies 2 and a plurality of second finger assemblies 3, the first finger assemblies 2 and the second finger assemblies 3 are sequentially arranged at intervals, a first servo motor carrying support seat 9 is arranged between carrying support seats 9, the upper end of the first servo motor carrying support seat 9 is provided with a first servo motor 10, a synchronous wheel 13 is arranged at a position, close to the first servo motor 10, of the main rod 11, a rotation shaft of the first servo motor 10 is in transmission connection with the synchronous wheel 13 through a synchronous belt 14, and the first arm 5, the second arm 6 are sequentially arranged at intervals, the third arm 7 is provided with a long waist groove 15 which can be matched with the first finger assembly 2 and the second finger assembly 3, the first finger assembly 2 and the second finger assembly 3 are movably connected with the long waist groove 15, the first servo motor 10 drives the main rod 11, the first finger assemblies 2, the second finger assemblies 3, the first arms 5, the second arms 6 and the third arms 7 to realize horizontal movement of products on an X axis, the second servo motor 12 drives the main rod 11, the first finger assemblies 2, the second finger assemblies 3, the first arms 5, the second arms 6 and the third arms 7 to realize horizontal movement of products on a y axis through screw transmission, and the top end of the carrying support seat 9 is also provided with the guide rail 4.
The working process of the invention comprises the following steps:
in the working process of the four-wire high-speed manipulator, a manipulator host machine drives a main rod 11 to move along a X, Y shaft to take materials, the materials are placed into a punching die, the materials are repeatedly operated, a first servo motor 10, a synchronous wheel 13, a synchronous belt 14 and the main rod 11 are adopted in front-back transmission, the first servo motor 10 drives all the main rods 11 to rotate through a synchronous wheel mechanism, the main rod 11 converts rotary motion into linear motion through a rack-and-pinion mechanism, all the first finger assemblies 2 and the second finger assemblies 3 are driven to move along an X axis under the action of a guide rail 4, a second servo motor 12 and a screw rod 11 are adopted in left-right transmission, the whole manipulator is operated through servo motors of the X axis and a Y axis, and the first finger assemblies 2 and the second finger assemblies 3 can simultaneously realize motion along the X axis and the Y axis. The working movement track of the mechanism is shown in fig. 4: the first finger assembly 2 and the second finger assembly 3 move from the point A to the point B in an acceleration way, stay at the point B slightly, move from the point B to the point C in an acceleration way after receiving detection signals on the first finger assembly 2 and the second finger assembly 3, stay at the point C slightly, and the stay time is adjustable; after the first and second finger assemblies 2 and 3 are retracted to the safe position D, the first and second servomotors 10 and 12 are simultaneously driven in the X and Y directions and returned to the point a at the fastest speed.
The above embodiments are illustrative of the present invention, and not limiting, and any simple modifications of the present invention fall within the scope of the present invention.

Claims (3)

1. A four-wire high-speed manipulator is characterized in that: including base (1), a plurality of first finger subassembly (2), a plurality of second finger subassembly (3), first arm (5), a plurality of second arm (6), a plurality of third arm (7), a plurality of transport supporting seat (8), first servo motor transport supporting seat (9), first servo motor (10), mobile jib (11), second servo motor (12), synchronizing wheel (13), synchronous belt (14), base (1) inside be equipped with second servo motor (12), second servo motor (12) pass through lead screw and mobile jib (11) transmission connection, one side that base (1) was extended to mobile jib (11), mobile jib (11) extend base (1) end below evenly be equipped with a plurality of transport supporting seat (8), mobile jib (11) upper end be close to base (1) end and be equipped with first arm (5), the one end that base (1) was kept away from to first arm (5) be connected with second (6), the second arm (6) other end be equipped with third arm (7), third arm (6) and this first arm (6) and this arm (6) in proper order, the first arm (6) that this arm (6) are kept away from in proper order, the first arm (5) sets up A plurality of first finger assemblies (2) and a plurality of second finger assemblies (3) are uniformly arranged on one side of each third arm (7), the first finger assemblies (2) and the second finger assemblies (3) are sequentially arranged at intervals, a first servo motor carrying support seat (9) is arranged between carrying support seats (8), a first servo motor (10) is arranged at the upper end of each first servo motor carrying support seat (9), a synchronous wheel (13) is arranged on the main rod (11) close to the first servo motor (10), and a rotating shaft of each first servo motor (10) is in transmission connection with the corresponding synchronous wheel (13) through a synchronous belt (14); the first servo motor (10) drives the main rod (11), the plurality of first finger assemblies (2), the plurality of second finger assemblies (3), the plurality of first arms (5), the plurality of second arms (6) and the plurality of third arms (7) to realize horizontal movement of the product on the X axis; the second servo motor (12) drives the main rod (11), the first finger assemblies (2), the second finger assemblies (3), the first arms (5), the second arms (6) and the third arms (7) through screw rod transmission to realize horizontal movement of the product on the y axis.
2. A four-wire high speed robot as defined by claim 1, wherein: the novel multifunctional portable hand is characterized in that the first arm (5), the second arm (6) and the third arm (7) are respectively provided with a long waist groove (15) which can be matched with the first finger assembly (2) and the second finger assembly (3), and the first finger assembly (2), the second finger assembly (3) and the long waist grooves (15) are movably connected.
3. A four-wire high speed robot as defined by claim 1, wherein: the top end of the carrying support seat (9) is also provided with a guide rail (4).
CN201910132132.2A 2019-02-22 2019-02-22 Four-wire high-speed manipulator Active CN109719749B (en)

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

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

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CN109719749A CN109719749A (en) 2019-05-07
CN109719749B true 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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