CN110722544A - Automatic snatch manipulator - Google Patents
Automatic snatch manipulator Download PDFInfo
- Publication number
- CN110722544A CN110722544A CN201911106874.4A CN201911106874A CN110722544A CN 110722544 A CN110722544 A CN 110722544A CN 201911106874 A CN201911106874 A CN 201911106874A CN 110722544 A CN110722544 A CN 110722544A
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- CN
- China
- Prior art keywords
- arm
- driving
- chassis
- grabbing
- main beam
- 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.)
- Granted
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Classifications
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- 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
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- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
Abstract
The invention provides an automatic grabbing manipulator, which comprises a chassis, a main beam, a supporting arm, a grabbing arm and a grabbing head, wherein the lower end part of the main beam is rotatably arranged on the chassis, the supporting arm is rotatably arranged at the upper end part of the main beam, the lower end part of the grabbing arm is rotatably arranged at one end part of the supporting arm, the grabbing head is horizontally and fixedly arranged at the upper end part of the grabbing arm, a first driving mechanism for driving the main beam to rotate is arranged between the chassis and the main beam, a second driving mechanism for driving the supporting arm to rotate is arranged at the other end parts of the main beam and the supporting arm, a horizontal maintaining mechanism for enabling the grabbing head to be always kept horizontal in the rotating process of the supporting arm is arranged between the supporting arm and the grabbing arm, a sliding groove is formed in.
Description
Technical Field
The invention relates to an automatic grabbing manipulator.
Background
Adopt manual operation usually when loading and unloading the work piece among the prior art, cause intensity of labour big, improved the cost of labor greatly moreover, the automatic manipulator among the prior art at present only carries out two-dimentional action usually, and its structure is complicated loaded down with trivial details when needing to carry out the multidimension action, needs a plurality of practical rotation joints, adopts spherical joint even, needs a plurality of drives moreover, especially to the high-low level and the manipulator of loading and unloading that can fold up.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides an automatic grabbing manipulator which is simple in structure, can be contracted and is suitable for high-low grabbing.
In order to achieve the above object, the technical scheme of the invention is to provide an automatic grabbing manipulator, which comprises a chassis, a main beam, a supporting arm, a grabbing arm and a grabbing head, wherein the lower end part of the main beam is rotationally arranged on the chassis, the supporting arm is rotationally arranged at the upper end part of the main beam, the lower end part of the grabbing arm is rotationally arranged at one end part of the supporting arm, the grabbing head is horizontally and fixedly arranged at the upper end part of the grabbing arm, a first driving mechanism for driving the main beam to rotate is arranged between the chassis and the main beam, a second driving mechanism for driving the supporting arm to rotate is arranged at the other end of the main beam and the supporting arm, a horizontal keeping mechanism for keeping the grabbing head horizontal all the time in the rotating process of the supporting arm is arranged between the supporting arm and the grabbing arm, a sliding groove is arranged on the supporting arm along the, the other end of the connecting rod is rotatably connected with the grabbing arm;
fixed be provided with on the support arm with the girder rotates the first pivot of being connected mutually, snatch on the arm fixed be provided with the support arm rotates the second pivot of being connected mutually, level hold mechanism including concentric fixed set up in first epaxial first sprocket, rotate set up in second sprocket on the support arm, connect in first sprocket with drive chain between the second sprocket, with the concentric fixed connection's of second sprocket first gear, concentric fixed set up in the epaxial second gear of second, first gear with the second gear meshes mutually.
The further improvement is that: the first driving mechanism is a first driving air cylinder, a cylinder body of the first driving air cylinder is rotatably connected with the chassis, and a piston rod of the first driving air cylinder is rotatably connected with the main beam.
The further improvement is that: the second driving mechanism is a second driving cylinder, a cylinder body of the second driving cylinder is rotatably connected with the main beam, and a piston rod of the second driving cylinder is rotatably connected with the supporting arm.
The further improvement is that: the chassis is rotatably arranged on the chassis, a rotating axis of the chassis extends along the vertical direction, and a driving motor for driving the chassis to rotate is arranged on the chassis.
The further improvement is that: an electromagnetic clamp is arranged on the grabbing head.
The invention has the advantages and beneficial effects that: the multi-dimensional grabbing device has the advantages that the multi-dimensional grabbing is realized only by the aid of the two sets of driving mechanisms, the multi-dimensional grabbing device can be folded, materials can be always kept in a horizontal position in the grabbing process, the structure is simple, and the automation degree is high.
Drawings
FIG. 1 is a schematic view of the present invention.
Wherein: 1. a chassis; 2. a chassis; 3. a drive motor; 4. a main beam; 5. a first driving cylinder; 6. a support arm; 7. a second driving cylinder; 8. a gripper arm; 9. a connecting rod; 10. a gripper head; 11. an electromagnetic clamp; 12. a first sprocket; 13. a second sprocket; 14. a second gear; 15. a transmission chain.
Detailed Description
The following further describes embodiments of the present invention with reference to examples. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
As shown in fig. 1, an automatic grabbing manipulator comprises a chassis 1, a main beam 4 with a lower end rotatably arranged on the chassis 1, a supporting arm 6 rotatably arranged at the upper end of the main beam 4, a grabbing arm 8 with a lower end rotatably arranged at one end of the supporting arm 6, and a grabbing head 10 horizontally and fixedly arranged at the upper end of the grabbing arm 8, wherein a first driving mechanism for driving the main beam 4 to rotate is arranged between the chassis 1 and the main beam 4, a second driving mechanism for driving the supporting arm 6 to rotate is arranged at the other end of the main beam 4 and the supporting arm 6, a horizontal retaining mechanism for keeping the grabbing head 10 horizontal all the time in the rotating process of the supporting arm 6 is arranged between the supporting arm 6 and the grabbing arm 8, a sliding groove is arranged on the supporting arm 6 along the length direction thereof, and a guide pin is arranged in the sliding groove, one end of a connecting rod 9 is rotatably arranged on the guide pin by taking the guide pin as a rotating shaft, and the other end of the connecting rod 9 is rotatably connected with the grabbing arm 8;
the supporting arm 6 is fixedly provided with a first rotating shaft rotatably connected with the main beam 4, the grabbing arm 8 is fixedly provided with a second rotating shaft rotatably connected with the supporting arm 6, the horizontal holding mechanism comprises a first chain wheel 12 concentrically and fixedly arranged on the first rotating shaft, a second chain wheel 13 rotatably arranged on the supporting arm 6, a transmission chain 15 connected between the first chain wheel 12 and the second chain wheel 13, a first gear (not shown) concentrically and fixedly connected with the second chain wheel 13, and a second gear 14 concentrically and fixedly arranged on the second rotating shaft, and the first gear is meshed with the second gear 14.
In the preferred embodiment of the present invention, the first driving mechanism is a first driving cylinder, a cylinder body of the first driving cylinder 5 is rotatably connected to the chassis 1, and a piston rod of the first driving cylinder 5 is rotatably connected to the main beam 4.
In the preferred embodiment of the present invention, the second driving mechanism is a second driving cylinder 7, a cylinder body of the second driving cylinder 7 is rotatably connected to the main beam 4, and a piston rod of the second driving cylinder 7 is rotatably connected to the supporting arm 6.
In order to realize the multistation work, still include chassis 2, chassis 1 rotate set up in on the chassis 2, the axis of rotation lead on chassis 1 extends along the vertical direction, be provided with the drive on the chassis 2 1 pivoted driving motor 3 on the chassis, through rotating chassis 1, whole manipulator can 360 rotations then, has realized the all-round action of snatching.
In the preferred embodiment of the present invention, the electromagnetic clamp 11 is disposed on the gripper head 10.
The working principle is as follows: firstly, the first driving cylinder 5 controls the main beam 4 to swing, and the second driving cylinder 7 controls the supporting arm 6 to swing relative to the main beam 4, so that the grabbing arm 8 can move up and down and back and forth while folding is realized, and in order to accurately grab a target object, the grabbing head 10 on the grabbing arm 8 is required to be always kept at a horizontal position, in the scheme, a connecting rod 9 mechanism consisting of a guide pin, a connecting rod 9 and a sliding groove is formed between the grabbing arm 8 and the supporting arm 6, the connecting rod 9 mechanism is used for controlling the relative rotation relationship between the grabbing arm 8 and the supporting arm 6, in addition, the grabbing head 10 fixed at the upper end part of the grabbing arm 8 is always kept at the horizontal position by arranging a horizontal keeping mechanism in the rotating process of the supporting arm 6 so as to conveniently grab a workpiece, and the principle of the horizontal keeping mechanism is that when the second driving cylinder 7 controls the rotating angle a of, the first chain wheel 12 fixed on the first rotating shaft is the rotating angle a, the second chain wheel 13 connected through the transmission chain 15 is the same rotating angle a, the first gear concentrically and fixedly arranged with the second chain wheel 13 is also the rotating angle a, the second gear 14 fixed on the second rotating shaft is meshed with the first gear, the second gear 14 is the reverse rotating angle a at the moment, and then the second rotating shaft is the reverse rotating angle a, so that the reverse rotating angle a of the arm 8 relative to the supporting arm 6 is grabbed under the action of the connecting rod 9 mechanism between the grabbing arm 8 and the supporting arm 6, and then the grabbing head 10 fixed at the upper end of the grabbing arm 8 can be always kept at the horizontal position.
While there have been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, the invention will be further understood by those skilled in the art from the foregoing description and the following claims, and all changes and modifications that fall within the metes and bounds of the claims, or equivalences of such metes and bounds are therefore intended to be embraced by the appended claims.
Claims (5)
1. The utility model provides an automatic snatch manipulator which characterized in that: comprises a chassis, a main beam with the lower end part rotatably arranged on the chassis, a supporting arm rotatably arranged at the upper end part of the main beam, a grabbing arm with the lower end part rotatably arranged at one end part of the supporting arm, and a grabbing head horizontally and fixedly arranged at the upper end part of the grabbing arm, a first driving mechanism for driving the main beam to rotate is arranged between the chassis and the main beam, a second driving mechanism for driving the supporting arm to rotate is arranged at the other end of the main beam and the supporting arm, a horizontal keeping mechanism which enables the grabbing head to be kept horizontal all the time in the rotation process of the supporting arm is arranged between the supporting arm and the grabbing arm, the supporting arm is provided with a sliding groove along the length direction thereof, a guide pin is arranged in the sliding groove in a sliding way, one end of a connecting rod is rotatably arranged on the guide pin by taking the guide pin as a rotating shaft, and the other end of the connecting rod is rotatably connected with the grabbing arm;
fixed be provided with on the support arm with the girder rotates the first pivot of being connected mutually, snatch on the arm fixed be provided with the support arm rotates the second pivot of being connected mutually, level hold mechanism including concentric fixed set up in first epaxial first sprocket, rotate set up in second sprocket on the support arm, connect in first sprocket with drive chain between the second sprocket, with the concentric fixed connection's of second sprocket first gear, concentric fixed set up in the epaxial second gear of second, first gear with the second gear meshes mutually.
2. The automated grasping robot according to claim 1, characterized in that: the first driving mechanism is a first driving air cylinder, a cylinder body of the first driving air cylinder is rotatably connected with the chassis, and a piston rod of the first driving air cylinder is rotatably connected with the main beam.
3. The automated grasping robot according to claim 1, characterized in that: the second driving mechanism is a second driving cylinder, a cylinder body of the second driving cylinder is rotatably connected with the main beam, and a piston rod of the second driving cylinder is rotatably connected with the supporting arm.
4. The automated grasping robot according to claim 1, characterized in that: the chassis is rotatably arranged on the chassis, a rotating axis of the chassis extends along the vertical direction, and a driving motor for driving the chassis to rotate is arranged on the chassis.
5. The automated grasping robot according to claim 1, characterized in that: an electromagnetic clamp is arranged on the grabbing head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911106874.4A CN110722544B (en) | 2019-11-13 | 2019-11-13 | Automatic snatch manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911106874.4A CN110722544B (en) | 2019-11-13 | 2019-11-13 | Automatic snatch manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN110722544A true CN110722544A (en) | 2020-01-24 |
| CN110722544B CN110722544B (en) | 2020-10-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911106874.4A Active CN110722544B (en) | 2019-11-13 | 2019-11-13 | Automatic snatch manipulator |
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| Country | Link |
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| CN (1) | CN110722544B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111108941A (en) * | 2020-02-10 | 2020-05-08 | 泉州泉港品然茶业有限公司 | Branch pruning machine |
| CN112238447A (en) * | 2020-08-28 | 2021-01-19 | 南京驭逡通信科技有限公司 | Industrial robot arm extension mechanism |
| CN112238442A (en) * | 2020-08-28 | 2021-01-19 | 南京驭逡通信科技有限公司 | Multi-curvature adjusting type support arm structure of industrial robot and using method thereof |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0658404A1 (en) * | 1993-12-17 | 1995-06-21 | COMAU S.p.A. | Industrial robot |
| CN201143680Y (en) * | 2008-01-25 | 2008-11-05 | 常熟理工学院 | Four-freedom degree complete decoupling linear transmission column co-ordinate-type mechanical arm |
| CN103495974A (en) * | 2013-10-08 | 2014-01-08 | 盐城市昱博自动化设备有限公司 | Intelligent 360-degree multi-dimensional mechanical arm of automobile equipment line |
| CN104647339A (en) * | 2015-02-02 | 2015-05-27 | 黄浩 | Mechanical hand |
| CN107414819A (en) * | 2017-09-26 | 2017-12-01 | 广西南宁栩兮科技有限公司 | A kind of harbour container palletizing mechanical arm |
| CN208394313U (en) * | 2018-04-18 | 2019-01-18 | 上海锵玫人工智能科技有限公司 | A kind of novel foodstuff transfer robot |
| CN109822556A (en) * | 2019-04-17 | 2019-05-31 | 桂林电子科技大学信息科技学院 | Industry mechanical arm based on PLC control |
| CN109848972A (en) * | 2017-11-30 | 2019-06-07 | 李雄昭 | A kind of load equalization mechanism of mechanical arm |
-
2019
- 2019-11-13 CN CN201911106874.4A patent/CN110722544B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0658404A1 (en) * | 1993-12-17 | 1995-06-21 | COMAU S.p.A. | Industrial robot |
| CN201143680Y (en) * | 2008-01-25 | 2008-11-05 | 常熟理工学院 | Four-freedom degree complete decoupling linear transmission column co-ordinate-type mechanical arm |
| CN103495974A (en) * | 2013-10-08 | 2014-01-08 | 盐城市昱博自动化设备有限公司 | Intelligent 360-degree multi-dimensional mechanical arm of automobile equipment line |
| CN104647339A (en) * | 2015-02-02 | 2015-05-27 | 黄浩 | Mechanical hand |
| CN107414819A (en) * | 2017-09-26 | 2017-12-01 | 广西南宁栩兮科技有限公司 | A kind of harbour container palletizing mechanical arm |
| CN109848972A (en) * | 2017-11-30 | 2019-06-07 | 李雄昭 | A kind of load equalization mechanism of mechanical arm |
| CN208394313U (en) * | 2018-04-18 | 2019-01-18 | 上海锵玫人工智能科技有限公司 | A kind of novel foodstuff transfer robot |
| CN109822556A (en) * | 2019-04-17 | 2019-05-31 | 桂林电子科技大学信息科技学院 | Industry mechanical arm based on PLC control |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111108941A (en) * | 2020-02-10 | 2020-05-08 | 泉州泉港品然茶业有限公司 | Branch pruning machine |
| CN112238447A (en) * | 2020-08-28 | 2021-01-19 | 南京驭逡通信科技有限公司 | Industrial robot arm extension mechanism |
| CN112238442A (en) * | 2020-08-28 | 2021-01-19 | 南京驭逡通信科技有限公司 | Multi-curvature adjusting type support arm structure of industrial robot and using method thereof |
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| Publication number | Publication date |
|---|---|
| CN110722544B (en) | 2020-10-30 |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20201013 Address after: No.263, Liandao West Road, Wufeng village, Chongwu town, Hui'an County, Quanzhou City, Fujian Province Applicant after: Luoyu tea service firm, Chongwu town, Hui'an County Address before: No. 786, Jinfeng Village, Dongyuan Town, Quanzhou Taishang investment district, Quanzhou City, Fujian Province Applicant before: Quanzhou Taishang investment zone Lianjin Information Technology Co.,Ltd. |
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Effective date of registration: 20230109 Address after: 271400 No. 1826, Qixian Road, Wenmiao street, Ningyang County, Tai'an City, Shandong Province Patentee after: SHANDONG ZHENTING JINGGONG PISTON Co.,Ltd. Address before: No. 263, Liandao West Road, Wufeng Village, Chongwu Town, Hui'an County, Quanzhou City, Fujian Province, 362131 Patentee before: Luoyu tea service firm, Chongwu town, Hui'an County |
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