CN110385380A - A kind of single lever-type manipulator - Google Patents
A kind of single lever-type manipulator Download PDFInfo
- Publication number
- CN110385380A CN110385380A CN201810350912.XA CN201810350912A CN110385380A CN 110385380 A CN110385380 A CN 110385380A CN 201810350912 A CN201810350912 A CN 201810350912A CN 110385380 A CN110385380 A CN 110385380A
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- Prior art keywords
- support frame
- speed reducer
- cabinet
- connect
- bar
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- Pending
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 34
- 230000005540 biological transmission Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D45/00—Ejecting or stripping-off devices arranged in machines or tools dealt with in this subclass
- B21D45/02—Ejecting devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of single lever-type manipulators, including the first cabinet, second cabinet, carry bar and gripper, gripper setting is on carrying bar, bar is carried to be slidably arranged on the first support frame and the second support frame, first support frame is equipped with x-axis motor, the output shaft of x-axis motor is equipped with gear, it carries bar and is equipped with the rack gear engaged with gear, z-axis motor and the second worm speed reducer are equipped in second cabinet, the output shaft of z-axis motor is equipped with drive pulley, the input shaft of second worm speed reducer and one end of driven pulley connect, drive pulley and driven pulley are sequentially connected by belt, the other end of driven pulley is connect with z-axis power driven rod one end, the input axis connection of the other end of z-axis power driven rod and the first worm speed reducer being arranged in the first cabinet, worm speed reducer and cam machine Structure connection, cam mechanism are connect with support frame.It carries and is provided with multiple grippers on bar, multiple stamping parts on multiple stations on assembly line can be grabbed, instead of originally in multiple mechanical arms of assembly line side setting, cost is saved, work efficiency is high, and rationally, structure is simple, and work efficiency is high for entire mechanism setting.
Description
Technical field
The present invention relates to mechanical arm technical field more particularly to a kind of single lever-type manipulators.
Background technique
In the stamping parts workshop of modernization, need with mechanical arm come loading and unloading, current mechanical arm is typically all cantilever
Formula Multi-shaft mechanical arm, can grab stamping parts in three-dimensional space, but it can grab that radius is small, and crawl amount is less, face overlength
Assembly line generally has multiple stations on assembly line, and has product to be captured on each station, therefore just needs in flowing water
Multiple mechanical arms, higher cost are set around line, and safeguard inconvenience.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of single lever-type manipulators.
Technical solution of the present invention is as follows: a kind of single lever-type manipulator, including the first cabinet, the second cabinet, carry bar and
Gripper, on carrying bar, the carrying bar is slidably arranged on the first support frame and the second support frame for the gripper setting,
First support frame is slidably arranged in the first cabinet, and second support frame is slidably arranged in the second cabinet, and described
One support frame is equipped with x-axis motor, and the output shaft of the x-axis motor is equipped with gear, and the carrying bar is equipped with and nibbles with gear
The rack gear of conjunction, second cabinet is interior to be equipped with z-axis motor and the second worm speed reducer, and the output shaft of the z-axis motor is equipped with
One end of drive pulley, the input shaft of second worm speed reducer and driven pulley connects, the drive pulley with
Driven pulley is sequentially connected by belt, and the output shaft of second worm speed reducer is connect with the second cam mechanism, described
Second cam mechanism is connect with the second support frame, and the other end of driven pulley is connect with z-axis power driven rod one end, told z
The input axis connection of the other end of axis power driven rod and the first worm speed reducer being arranged in the first cabinet, first whirlpool
The output shaft of wheel speed reducer is connect with the first cam mechanism, and first cam mechanism is connect with the first support frame.
Specifically: second cam mechanism includes swing arm and pushing block, and the swing arm is equipped with pulley, and the pulley is sliding
In the dynamic strip-shaped hole being arranged on pushing block, the output axis connection of the swing arm and the second worm speed reducer, the upper end of the pushing block
It is connect with the second support frame, second cam mechanism is identical as the structure of the first cam mechanism.
Specifically: first worm speed reducer is identical as the structure of the second worm speed reducer.
Specifically: first support frame and the second support frame are equipped with multiple idler wheels, and the carrying bar is slidably arranged in
On idler wheel.
The beneficial effects of the present invention are: it carries and is provided with multiple grippers on bar, can grab multiple on assembly line
Multiple stamping parts on station, instead of originally in multiple mechanical arms of assembly line side setting, saving cost, work efficiency is high；x
Spindle motor driving is carried bar and is moved in x-axis direction, and z-axis motor drives two whirlpools by driven pulley and z-axis power driven rod
Wheel speed reducer moves synchronously, and worm speed reducer is connect with cam mechanism, drives entire bar of carrying to move in z-axis direction, entire machine
Rationally, structure is simple, and work efficiency is high for structure setting.
Detailed description of the invention
The following further describes the present invention with reference to the drawings.
Fig. 1 is top view in the present invention.
Fig. 2 is front view in the present invention.
Fig. 3 is the structural schematic diagram in the present invention in the second cabinet.
Fig. 4 is the structural schematic diagram of the second worm speed reducer and the second cam mechanism in the present invention.
Wherein: 1- carries bar；2- gripper；The first cabinet of 3-；31-x spindle motor；32- gear；The first support frame of 33-；
The first worm speed reducer of 34-；The second cabinet of 4-；41-z spindle motor；42- drive pulley；43- belt；44- driven pulley；
The second worm speed reducer of 45-；46- swing arm；47- pulley；48- pushing block；481- strip-shaped hole；5- idler wheel；6-z axis power driven rod.
Specific embodiment
With reference to the attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiment is 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.
Refering to fig. 1-4, a kind of single lever-type manipulator, including the first cabinet 3, the second cabinet 4 carry bar 1 and gripper
2, on carrying bar 1, the carrying bar 1 is slidably arranged in the first support frame 33 and the second support frame 49 for the setting of gripper 2
On, first support frame 33 is slidably arranged in the first cabinet 3, and second support frame 49 is slidably arranged in the second cabinet 3
Interior, first support frame 33 is equipped with x-axis motor 31, and the output shaft of the x-axis motor 31 is equipped with gear 32, the carrying
Bar 1 is equipped with the rack gear (not shown) engaged with gear 32, is equipped with z-axis motor 41 in second cabinet 4 and the second turbine subtracts
Fast machine 45, the output shaft of the z-axis motor 41 are equipped with drive pulley 42, the input shaft of second worm speed reducer 45 with
One end of driven pulley 44 connects, and the drive pulley 42 is sequentially connected with driven pulley 44 by belt 43, described
The output shaft of second worm speed reducer 45 is connect with the second cam mechanism, and second cam mechanism and the second support frame 49 connect
Connect, the other end of driven pulley 44 passes 6 with z-axis power and bar one end is sent connect, the other end of told z-axis power driven rod 6 and
The input axis connection of the first worm speed reducer 3 in first cabinet 3 is set, the output shaft of first worm speed reducer 3 with
The connection of first cam mechanism, first cam mechanism are connect with the first support frame 33.
Heretofore described second cam mechanism includes swing arm 46 and pushing block 48, and the swing arm 46 is equipped with pulley 47,
The pulley 47 is slidably arranged in the strip-shaped hole 481 on pushing block 48, the output of the swing arm 46 and the second worm speed reducer 45
Axis connection, the upper end of the pushing block 48 are connect with the second support frame 49, the knot of second cam mechanism and the first cam mechanism
Structure is identical.
Heretofore described first worm speed reducer 34 is identical as the structure of the second worm speed reducer 45.
Heretofore described first support frame 33 and the second support frame 49 are equipped with multiple idler wheels 5, and the carrying bar 1 slides
It is arranged on idler wheel 5.
In actual operation, z-axis motor 41 drives the first turbine to subtract by driven pulley 44 and z-axis power driven rod 6
Fast machine 34 and the second worm speed reducer 45 move synchronously, and worm speed reducer is connect with cam mechanism, drive entire bar 1 of carrying in z
Axis direction moves regular movement, and the driving of x-axis motor 31 is carried bar 1 and moved in x-axis direction, is provided on carrying bar 1 multiple
Gripper 2 can grab multiple stamping parts on multiple stations on assembly line, instead of originally in the more of assembly line side setting
A mechanical arm saves cost, and work efficiency is high.
Above-mentioned accompanying drawings and embodiments are merely to illustrate the present invention, and any technical field those of ordinary skill does it
Appropriate changes or modifications, all should be regarded as not departing from the invention patent scope.
Claims (4)
1. a kind of single lever-type manipulator, including the first cabinet, the second cabinet carry bar and gripper, the gripper setting
On carrying bar, it is characterised in that: the carrying bar is slidably arranged on the first support frame and the second support frame, and described first
Support is slidably arranged in the first cabinet, and second support frame is slidably arranged in the second cabinet, on first support frame
Equipped with x-axis motor, the output shaft of the x-axis motor is equipped with gear, and the bar of carrying is equipped with the rack gear engaged with gear, institute
It states and is equipped with z-axis motor and the second worm speed reducer in the second cabinet, the output shaft of the z-axis motor is equipped with drive pulley,
The input shaft of second worm speed reducer and one end of driven pulley connect, and the drive pulley and driven pulley are logical
Belt transmission connection is crossed, the output shaft of second worm speed reducer is connect with the second cam mechanism, second cam mechanism
It is connect with the second support frame, the other end of the driven pulley is connect with z-axis power driven rod one end, and the z-axis power passes
Send the other end of bar and the input axis connection for the first worm speed reducer being arranged in the first cabinet, first worm speed reducer
Output shaft connect with the first cam mechanism, first cam mechanism is connect with the first support frame.
2. a kind of single lever-type manipulator according to claim 1, it is characterised in that: second cam mechanism include swing arm with
And pushing block, the swing arm are equipped with pulley, the pulley is slidably arranged in the strip-shaped hole on pushing block, the swing arm and the second whirlpool
The output axis connection of speed reducer is taken turns, the upper end of the pushing block connect with the second support frame, second cam mechanism and first convex
The structure for taking turns mechanism is identical.
3. a kind of single lever-type manipulator according to claim 1, it is characterised in that: first worm speed reducer and the second whirlpool
The structure for taking turns speed reducer is identical.
4. a kind of single lever-type manipulator according to claim 1, it is characterised in that: first support frame and the second support frame
Multiple idler wheels are equipped with, the carrying bar is slidably arranged on idler wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810350912.XA CN110385380A (en) | 2018-04-18 | 2018-04-18 | A kind of single lever-type manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810350912.XA CN110385380A (en) | 2018-04-18 | 2018-04-18 | A kind of single lever-type manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110385380A true CN110385380A (en) | 2019-10-29 |
Family
ID=68283408
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810350912.XA Pending CN110385380A (en) | 2018-04-18 | 2018-04-18 | A kind of single lever-type manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110385380A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB771944A (en) * | 1954-08-27 | 1957-04-10 | Dexter Folder Co | Sheet feeding apparatus |
| CN201693553U (en) * | 2010-06-18 | 2011-01-05 | 赵宗礼 | High-speed grabbing manipulator device |
| CN104291675A (en) * | 2014-07-29 | 2015-01-21 | 江苏潮华玻璃制品有限公司 | Bottle dropping manipulator of bottle making machine |
| CN204545209U (en) * | 2015-03-31 | 2015-08-12 | 天津捷朗科技有限公司 | A kind of crawl mobile device |
| CN105563479A (en) * | 2016-03-02 | 2016-05-11 | 戴毅 | Transferring and rapid carrying mechanical hand for assembly line |
| CN105983963A (en) * | 2015-03-06 | 2016-10-05 | 中国科学院宁波材料技术与工程研究所 | Three-dimensional feeding manipulator |
| CN206316705U (en) * | 2016-12-16 | 2017-07-11 | 吴水鱼 | Lines kludge |
| CN206627089U (en) * | 2017-04-18 | 2017-11-10 | 江苏信息职业技术学院 | A kind of micro part automatic stacking device |
| CN208067162U (en) * | 2018-04-18 | 2018-11-09 | 昆山奥尔顿自动化科技有限公司 | A kind of single lever-type manipulator |
-
2018
- 2018-04-18 CN CN201810350912.XA patent/CN110385380A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB771944A (en) * | 1954-08-27 | 1957-04-10 | Dexter Folder Co | Sheet feeding apparatus |
| CN201693553U (en) * | 2010-06-18 | 2011-01-05 | 赵宗礼 | High-speed grabbing manipulator device |
| CN104291675A (en) * | 2014-07-29 | 2015-01-21 | 江苏潮华玻璃制品有限公司 | Bottle dropping manipulator of bottle making machine |
| CN105983963A (en) * | 2015-03-06 | 2016-10-05 | 中国科学院宁波材料技术与工程研究所 | Three-dimensional feeding manipulator |
| CN204545209U (en) * | 2015-03-31 | 2015-08-12 | 天津捷朗科技有限公司 | A kind of crawl mobile device |
| CN105563479A (en) * | 2016-03-02 | 2016-05-11 | 戴毅 | Transferring and rapid carrying mechanical hand for assembly line |
| CN206316705U (en) * | 2016-12-16 | 2017-07-11 | 吴水鱼 | Lines kludge |
| CN206627089U (en) * | 2017-04-18 | 2017-11-10 | 江苏信息职业技术学院 | A kind of micro part automatic stacking device |
| CN208067162U (en) * | 2018-04-18 | 2018-11-09 | 昆山奥尔顿自动化科技有限公司 | A kind of single lever-type manipulator |
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