CN112238448A - Multi-range telescopic device and bidirectional multi-range manipulator applying same - Google Patents
Multi-range telescopic device and bidirectional multi-range manipulator applying same Download PDFInfo
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- CN112238448A CN112238448A CN202011160897.6A CN202011160897A CN112238448A CN 112238448 A CN112238448 A CN 112238448A CN 202011160897 A CN202011160897 A CN 202011160897A CN 112238448 A CN112238448 A CN 112238448A
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- gear
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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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
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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Abstract
The invention provides a multi-range telescopic device, which comprises: mounting a platform; the driving mechanism is a telescopic mechanism and comprises a fixed end and a telescopic end, and the fixed end is fixedly arranged on the mounting platform; the stroke input mechanism comprises a gear shaft, a first rack and a first gear; the first gear is meshed with the first rack; the first gear is sleeved on the gear shaft; the telescopic end of the driving mechanism drives the gear shaft or the first rack to feed, and correspondingly, the position of the first rack or the position of the gear shaft is unchanged relative to the mounting platform; the stroke output mechanism comprises a second gear and a second rack; the gear shaft penetrates through the circle centers of the first gear and the second gear, and the second rack is meshed with the second gear; the second gear has a reference circle diameter larger than that of the first gear. The invention also provides a bidirectional multi-range material taking manipulator adopting the multi-range telescopic device. The multi-stroke telescopic device can reduce the occupied space; the bidirectional multi-range manipulator occupies small space, has high operation beat, and eliminates rotation eccentricity and idle rotation energy consumption.
Description
Technical Field
The invention relates to a multi-range telescopic device and a bidirectional multi-range manipulator applying the same.
Background
When the automobile windshield glass is glued, the concave surface of the windshield glass is required to be upward; when the glass is installed on a vehicle body, the convex surface is required to be upward, so that the glass is required to be turned over. The traditional turnover mechanism occupies a small space and is slow in operation beat, the center of gravity is offset during rotation, and the load inertia has high requirements on the torque of a motor, a speed reducer and a coupling; meanwhile, the beat is low, the energy consumption is high, and the body is heavy.
For example, the cylinder with the stroke of 500mm drives the material taking sucker to extend out to take glass. After the sucker finishes the adsorption, the cylinder retracts, and the rotating motor rotates by 180 degrees to finish the glass turnover; then the cylinder stretches out, and the glass is transferred to a loading jig; then the cylinder retracts, the rotating motor rotates for 180 degrees in idle, and the next cycle of operation is carried out. Due to the one-way single-stroke structure, the device has the advantages of large occupied space, long operation time and energy waste, and does not meet the requirements of production line rhythm and energy conservation and consumption reduction.
Chinese patent 201821609608.4 discloses a double stroke device. This time stroke device includes: the device comprises a rack, a guide rack, a driven rack, a cylinder, a key-free straight gear and a gear roller shaft mechanism; wherein, the guide rack is arranged on one side of the frame, the driven rack is arranged on one side of the frame, and the driven rack can slide on the frame; the toothed surface of the guide rack faces the toothed surface of the driven rack; the cylinder is arranged on the frame; the key-free straight gear is assembled with the gear roller shaft mechanism and is meshed with the guide rack and the driven rack; the gear roller shaft mechanism is also assembled with the cylinder; under the guide of the guide rack, the cylinder drives the key-free straight gear to rotate, and the key-free straight gear drives the driven rack to move when rotating.
Chinese patent 201920640025.6 discloses a reciprocating type traction mechanism, which is used in the field of traction equipment and comprises a moving part, a gear, a rack and a driving part, wherein the moving part is provided with a hanging structure, the moving part realizes movement through the meshing transmission of the gear and the rack, the gear comprises a first gear and a second gear, the first gear and the second gear are distributed along the length direction of the rack, the rack is in meshing transmission with the first gear and/or the second gear, and the driving part can drive the first gear and the second gear to synchronously rotate. The moving part realizes movement through meshing transmission of the gear and the rack, and traction of parts such as a clamp is realized by combining a hanging structure on the moving part, wherein the gear comprises a first gear and a second gear, and the first gear, the second gear and the rack form a multi-point meshing transmission mechanism, so that traction with a longer stroke is realized.
The technical scheme has the defects of not compact structure, low beat, high energy consumption and heavy body.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a multi-stroke telescopic device and a bidirectional multi-stroke manipulator using the same, which not only occupy small space and have high operation beat, but also eliminate rotation eccentricity and idle rotation energy consumption.
To achieve the above object, in one aspect, the present invention provides a multiple stroke telescopic device, comprising:
mounting a platform;
the driving mechanism is a telescopic mechanism and comprises a fixed end and a telescopic end, and the fixed end is fixedly arranged on the mounting platform;
the stroke input mechanism comprises a gear shaft, a first rack and a first gear; the first gear is meshed with the first rack; the first gear is sleeved on the gear shaft; the telescopic end of the driving mechanism drives the gear shaft or the first rack to feed, and correspondingly, the position of the first rack or the position of the gear shaft is unchanged relative to the mounting platform;
the stroke output mechanism comprises a second gear and a second rack; the gear shaft penetrates through the circle centers of the first gear and the second gear, and the second rack is meshed with the second gear; the second gear has a reference circle diameter larger than that of the first gear.
In the invention, the second gear and the first gear are coaxial, and the telescopic stroke of the driving mechanism is amplified because the reference circle diameter of the second gear is larger than that of the first gear.
In the present invention, the drive mechanism inputs a linear stroke, which is preferably a cylinder; the stroke output mechanism amplifies and outputs the input linear stroke. The stroke amplification factor is the reference circle diameter ratio of the second gear to the first gear.
According to the design concept of the invention, at least two schemes of gear-rack fixed gear feeding and gear-rack fixed gear feeding can be specifically adopted. It should be noted that the term "rack stationary" as used herein means that the first rack is stationary and the second rack is a stroke output member, which is not necessarily stationary; the term "gear fixed" as used herein means that the position of the gear shaft is not changed, and the gear is not rotated. Both of these schemes are described in detail below.
According to another embodiment of the present invention, the driving mechanism is a driving cylinder, the fixed end is a cylinder body, and the telescopic end is a piston.
According to another embodiment of the invention, the telescopic end drives the gear shaft to feed, and the first rack is fixedly arranged on the mounting platform (the rack is fixed). According to another embodiment of the present invention, the first rack and the second rack are respectively located at both sides of the gear shaft. According to another embodiment of the invention, the multi-range telescoping device further comprises a gear box, the gear box comprises a transverse plate, a left side plate and a right side plate, the left side plate and the right side plate are respectively fixed on the left side and the right side of the connecting transverse plate, and two ends of a gear shaft are respectively arranged on the left side plate and the right side plate; the telescopic end is fixedly connected with a transverse plate. In the scheme, the transverse plate, the left side plate and the right side plate form an accommodating space, and the gear shaft, the first gear and the second gear are all located in the accommodating space; the telescopic end is fixedly connected with the transverse plate, and the telescopic end is fed by pushing the transverse plate, so that the gear shaft is pushed to feed.
In this scheme, first rack is motionless, and under actuating mechanism's drive, first gear feeds along first rack to drive gear shaft and second gear feed. Since the second gear is engaged with the second rack, the second rack is also fed in synchronization. In addition, since the pitch circle diameter of the second gear is larger than that of the first gear, the feed stroke of the second rack is larger than the output stroke of the driving mechanism, specifically, the ratio of the feed stroke of the second rack to the output stroke of the driving mechanism is equal to the ratio of the pitch circle diameter of the second gear to that of the first gear.
For example, the first rack is fixed, the driving mechanism drives the gear shaft to lift, the stroke of the driving mechanism is 100mm, and the gear shaft also moves by 100 mm; the first and second gears also travel 100 mm. The first rack is used for ensuring that the first gear rotates when feeding through the meshing relation, and the rotation of the first gear drives the second gear to rotate through the gear shaft; the first gear and the second gear are coaxial, the reference circle diameter ratio is 1:3, and the second rack is driven to move for 300mm through transmission ratio conversion; the final stroke of the driving mechanism is 100mm, and the total stroke of 400mm is realized. In the scheme, the stroke of the multi-stroke telescopic device is the sum of the stroke of the driving cylinder and the stroke of the second rack; for example, the stroke of the driving cylinder is 100mm, the stroke of the second rack is 300mm, and the total stroke of the whole multi-stroke telescopic device is 400 mm.
According to another embodiment of the present invention, the retractable end drives the first rack to feed, and the gear is pivoted to the mounting platform through a gear shaft (the gear is stationary). According to another embodiment of the invention, the first and second racks are located on the same side of the gear shaft.
In the scheme, the linear stroke input by the driving mechanism drives the first rack to feed; the feeding of the first rack drives the first gear to rotate; the first gear is coaxial with the second gear, and the rotation of the first gear drives the rotation of the second gear; the second gear is meshed with the second rack, so that the rotation of the second gear drives the feeding of the second rack; the diameter of the second gear is larger than that of the first gear, so that the feeding stroke of the second rack is larger than that of the first rack; specifically, the ratio of the feed strokes of the second rack and the first rack is equal to the ratio of the reference circle diameters of the second gear and the first gear.
For example, the driving mechanism drives the first rack to lift, the stroke of the driving mechanism is 100mm, and the first rack also moves 100 mm; when the first rack moves, the first gear is driven to rotate; the first gear and the second gear are coaxial, the reference circle diameter ratio is 1:3, and the second rack is driven to move for 300mm through transmission ratio conversion; the final stroke of the driving mechanism is 100mm, and the total stroke of 300mm is realized.
In the scheme, the stroke of the multi-stroke telescopic device is only the stroke of the second rack; for example, the stroke of the driving cylinder is 100mm, the stroke of the second rack is 300mm, and the total stroke of the whole multi-stroke telescopic device is 300 mm.
Comparing the two schemes, the scheme that the rack does not move the gear can be seen, and the total stroke is 4 times of the stroke of the cylinder; the total stroke of the gear and the gear is 3 times of the stroke of the cylinder according to the scheme of moving different racks. Therefore, the scheme that the rack does not move the gear is the more preferable scheme.
According to another embodiment of the invention, the ratio of the reference circle diameter of the second gear to the first gear is 2-5.
On the other hand, the invention provides a bidirectional multiple-stroke material taking manipulator, which comprises a turnover platform and two material taking devices; the overturning platform is the mounting platform; the two material taking devices are respectively arranged on the front surface and the back surface of the overturning platform; the material taking device comprises a grabbing mechanism and the multi-range telescopic device; the grabbing mechanism is connected to the tail end of the second rack of the multi-range telescopic device. Particularly, two cylinder bodies of driving the air cylinder are respectively arranged on the front surface and the back surface of the overturning platform. For example, the two grabbing mechanisms are independent, if the lower grabbing mechanism is in no load and the material taking position is provided with glass, the lower grabbing mechanism extends out to take the material, and the sucker retracts automatically after adsorption is finished; meanwhile, the upper grabbing mechanism can lift the glass and transfer the glass to a loading jig, and the glass retracts automatically after no load. After the upper and lower two grabbing mechanisms all retract to the original point, the overturning platform rotates by 180 degrees, so that glass can be conveyed in every rotation, empty rotation is eliminated, and the operation beat is promoted.
Furthermore, the grabbing mechanism comprises a grabbing platform, and a plurality of suckers used for grabbing the glass are arranged on the grabbing platform.
Further, extracting device includes guiding mechanism, and guiding mechanism includes a plurality of parallel arrangement's guide post, and upset platform is connected to guide post one end, and the platform is snatched in the other end connection.
Specifically, when the overturning platform overturns, the two multi-range telescopic devices on the front side and the back side of the overturning platform are both in a retraction state.
Compared with the prior art, the multi-range telescopic device can realize range enlargement, and greatly reduce the occupied space; the bidirectional multi-stroke manipulator not only occupies small space and has high operation beat, but also eliminates the rotation eccentricity and the idle rotation energy consumption.
Drawings
Fig. 1 is a schematic view of the overall structure of a bidirectional multi-stroke reclaiming robot of embodiment 1;
FIG. 2 is a reference view of the two-way multiple-stroke material extracting robot of the embodiment 1 in use;
FIG. 3 is a partial schematic view showing the construction of a multi-stroke telescopic device according to embodiment 1;
FIG. 4 is another partial schematic structural view of the multi-stroke telescopic device of embodiment 1, which mainly shows a gear shaft, a first rack, a first gear, a second gear and a second rack;
fig. 5 is a schematic view of a part of the multi-stroke telescopic device in embodiment 1, which mainly shows a gear box.
Detailed Description
Example 1 (rack fixed gear movement, with picture)
As shown in fig. 1 to 5, the present embodiment provides a bidirectional multiple-stroke material taking manipulator, which includes an overturning platform 1 and two material taking devices; the two material taking devices are respectively arranged on the front surface and the back surface of the overturning platform 1; the material taking device comprises a grabbing mechanism, a guide mechanism and a multi-range telescopic device 3; the grabbing mechanism is connected to the tail end of the second rack of the multi-range telescopic device. The grabbing mechanism comprises a grabbing platform 201, and a plurality of suckers 202 (shown in fig. 2) for grabbing the glass a are arranged on the grabbing platform. The guiding mechanism comprises a plurality of guiding columns 4 which are arranged in parallel, one end of each guiding column is connected with the overturning platform 1, and the other end of each guiding column is connected with the grabbing platform 201.
As shown in fig. 3 to 5, the multiple stroke telescopic device 3 includes: the device comprises a mounting platform (namely a turnover platform), a driving mechanism, a stroke input mechanism, a stroke output mechanism and a gear box.
The driving mechanism is a telescopic mechanism and comprises a fixed end and a telescopic end, and the fixed end is fixedly arranged on the mounting platform; for example, the driving mechanism is a driving cylinder 32, the fixed end is a cylinder 321, and the telescopic end is a piston 322.
The stroke input mechanism comprises a gear shaft 333, a first rack 331 and a first gear 332; the first gear 332 is engaged with the first rack 331; the first gear 332 is sleeved on the gear shaft 333; the telescopic end 322 of the driving mechanism drives the gear shaft 333 to feed, and the first rack 331 is fixedly arranged on the mounting platform.
The stroke output mechanism comprises a second gear 342 and a second rack 341; the gear shaft 333 penetrates through the centers of the first gear 332 and the second gear 342, and the second rack 341 is meshed with the second gear 342; the second gear 342 has a pitch circle diameter 3 times larger than that of the first gear 332. The first and second racks 331 and 341 are respectively located at both sides of the gear shaft 333.
The gear box comprises a transverse plate 351, a left side plate 352 and a right side plate 353, the left side plate 352 and the right side plate 353 are respectively fixed on the left side and the right side of the connecting transverse plate 351, and two ends of a gear shaft 333 are respectively installed on the left side plate 352 and the right side plate 353; the telescoping end 322 is fixedly connected to the cross plate 351.
The two cylinder bodies 321 of the driving cylinder are respectively arranged on the front surface and the back surface of the turnover platform 1.
In the embodiment, the first rack is fixed, the driving mechanism drives the gear shaft to lift, the stroke of the driving mechanism is 100mm, and the gear shaft also advances 100 mm; the first and second gears also travel 100 mm. The first rack is used for ensuring that the first gear rotates when feeding through the meshing relation, and the rotation of the first gear drives the second gear to rotate through the gear shaft; the first gear and the second gear are coaxial, the reference circle diameter ratio is 1:3, and the second rack is driven to move for 300mm through transmission ratio conversion; the final stroke of the driving mechanism is 100mm, and the total stroke of 400mm is realized. In the embodiment, the stroke of the multi-stroke telescopic device is the sum of the stroke of the driving cylinder and the stroke of the second rack; for example, the stroke of the driving cylinder is 100mm, the stroke of the second rack is 300mm, and the total stroke of the whole multi-stroke telescopic device is 400 mm.
The grasping platform 201 is fixedly connected to the end of the second rack 342.
When the overturning platform 1 overturns, the two multi-range telescopic devices 3 on the front side and the back side are both in a retraction state.
Example 2 (gear fixed rack moving, not shown)
The difference between this embodiment and embodiment 1 is that the telescopic end drives the first rack to feed, and the first gear and the second gear are pivoted on the mounting platform through the gear shaft (the gear is fixed). The first rack and the second rack are respectively positioned on the same side of the gear shaft. In the embodiment, the stroke of the multi-stroke telescopic device is only the stroke of the second rack; for example, the stroke of the driving cylinder is 100mm, the stroke of the second rack is 300mm, and the total stroke of the whole multi-stroke telescopic device is 300 mm.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that variations may be made without departing from the scope of the invention, and equivalents may be resorted to without departing from the scope of the invention.
Claims (10)
1. A multiple stroke telescoping device, comprising:
mounting a platform;
the driving mechanism is a telescopic mechanism and comprises a fixed end and a telescopic end, and the fixed end is fixedly arranged on the mounting platform;
the stroke input mechanism comprises a gear shaft, a first rack and a first gear; the first gear is meshed with the first rack; the first gear is sleeved on the gear shaft; the telescopic end drives the gear shaft or the first rack to feed, and accordingly, the position of the first rack or the position of the gear shaft is unchanged relative to the mounting platform;
the stroke output mechanism comprises a second gear and a second rack; the gear shaft penetrates through the centers of the first gear and the second gear, and the second rack is meshed with the second gear; the pitch circle diameter of the second gear is larger than that of the first gear.
2. The multiple stroke telescoping device of claim 1, wherein the drive mechanism is a drive cylinder, the fixed end is a cylinder, and the telescoping end is a piston.
3. The multi-travel telescopic device according to claim 2, wherein the telescopic end drives the gear shaft to feed, and the first rack is fixedly arranged on the mounting platform.
4. The bidirectional multi-stroke manipulator of claim 3, wherein the multi-stroke telescopic device further comprises a gear box, the gear box comprises a transverse plate, a left side plate and a right side plate, the left side plate and the right side plate are respectively fixed on the left side and the right side of the transverse plate, and two ends of the gear shaft are respectively mounted on the left side plate and the right side plate; the telescopic end is fixedly connected with the transverse plate.
5. The bi-directional multi-stroke robot of claim 3 wherein said first rack and said second rack are located on either side of said gear shaft.
6. The multiple stroke telescoping device of claim 2 wherein said telescoping end drives said first rack feed and said gear is pivotally connected to said mounting platform by said gear shaft.
7. The bi-directional multi-stroke robot of claim 6 wherein said first rack and said second rack are each located on the same side of said gear shaft.
8. The multiple stroke telescoping device of claim 1, wherein the ratio of the reference circle diameter of said second gear to said first gear is 2-5.
9. A bidirectional multiple-stroke material taking manipulator is characterized by comprising a turnover platform and two material taking devices; the overturning platform is the mounting platform; the two material taking devices are respectively arranged on the front surface and the back surface of the overturning platform; the reclaimer assembly comprising a grasping mechanism and a multiple stroke telescoping device as in any one of claims 1-8; the grabbing mechanism is connected to the tail end of the second rack of the multi-range telescopic device.
10. The bidirectional multipass material handling robot of claim 9 wherein said grasping mechanism comprises a grasping platform having a plurality of suction cups for grasping glass.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011160897.6A CN112238448A (en) | 2020-10-27 | 2020-10-27 | Multi-range telescopic device and bidirectional multi-range manipulator applying same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011160897.6A CN112238448A (en) | 2020-10-27 | 2020-10-27 | Multi-range telescopic device and bidirectional multi-range manipulator applying same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112238448A true CN112238448A (en) | 2021-01-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011160897.6A Pending CN112238448A (en) | 2020-10-27 | 2020-10-27 | Multi-range telescopic device and bidirectional multi-range manipulator applying same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112238448A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113213151A (en) * | 2021-04-29 | 2021-08-06 | 广东安达智能装备股份有限公司 | Assembling method of multi-angle rotating and inclining assembling system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2637668A1 (en) * | 1988-10-10 | 1990-04-13 | Alfortville Const Brevetees | Two-way linear stroke and load step-down/step-up device |
| CN203221516U (en) * | 2013-05-14 | 2013-10-02 | 京东方科技集团股份有限公司 | Mechanical arm |
| CN205226253U (en) * | 2015-11-30 | 2016-05-11 | 志圣科技（广州）有限公司 | Simple and easy nimble stroke mechanism that becomes |
| CN107339386A (en) * | 2017-08-21 | 2017-11-10 | 宜兴东方智能汽车装备有限公司 | Double-stroke mechanism and two-pass travel mechanism |
| CN206988199U (en) * | 2017-07-31 | 2018-02-09 | 上海德莘汽车工程技术有限公司 | A kind of stroke amplifying mechanism |
| CN210260256U (en) * | 2019-05-22 | 2020-04-07 | 深圳市嘉力强电子设备有限公司 | Speed change mechanism of conveying table |
| CN111265785A (en) * | 2020-01-21 | 2020-06-12 | 上海联影医疗科技有限公司 | Linear motion driving mechanism |
-
2020
- 2020-10-27 CN CN202011160897.6A patent/CN112238448A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2637668A1 (en) * | 1988-10-10 | 1990-04-13 | Alfortville Const Brevetees | Two-way linear stroke and load step-down/step-up device |
| CN203221516U (en) * | 2013-05-14 | 2013-10-02 | 京东方科技集团股份有限公司 | Mechanical arm |
| CN205226253U (en) * | 2015-11-30 | 2016-05-11 | 志圣科技（广州）有限公司 | Simple and easy nimble stroke mechanism that becomes |
| CN206988199U (en) * | 2017-07-31 | 2018-02-09 | 上海德莘汽车工程技术有限公司 | A kind of stroke amplifying mechanism |
| CN107339386A (en) * | 2017-08-21 | 2017-11-10 | 宜兴东方智能汽车装备有限公司 | Double-stroke mechanism and two-pass travel mechanism |
| CN210260256U (en) * | 2019-05-22 | 2020-04-07 | 深圳市嘉力强电子设备有限公司 | Speed change mechanism of conveying table |
| CN111265785A (en) * | 2020-01-21 | 2020-06-12 | 上海联影医疗科技有限公司 | Linear motion driving mechanism |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113213151A (en) * | 2021-04-29 | 2021-08-06 | 广东安达智能装备股份有限公司 | Assembling method of multi-angle rotating and inclining assembling system |
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| CB02 | Change of applicant information |
Address after: 430056 No. 10 Dongfeng Avenue, Wuhan economic and Technological Development Zone, Wuhan, Hubei Applicant after: DONGFENG MOTER Co.,Ltd. Address before: No.12 Fengshen Avenue, Huadu District, Guangzhou, Guangdong 510000 Applicant before: DONGFENG MOTER Co.,Ltd. |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210119 |
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| RJ01 | Rejection of invention patent application after publication |