CN201522805U - double-shaft linear carrying robot - Google Patents
double-shaft linear carrying robot Download PDFInfo
- Publication number
- CN201522805U CN201522805U CN2009201234538U CN200920123453U CN201522805U CN 201522805 U CN201522805 U CN 201522805U CN 2009201234538 U CN2009201234538 U CN 2009201234538U CN 200920123453 U CN200920123453 U CN 200920123453U CN 201522805 U CN201522805 U CN 201522805U
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- guide rod
- mechanical paw
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Abstract
The utility model relates to a double-shaft linear carrying robot. The robot comprises a linear transmission device provided with a horizontal degree of freedom, a guide rod cylinder provided with a vertical degree of freedom, pneumatic fingers and a mechanical paw, wherein a groove part matched with the shape of a workpiece is formed on the mechanical paw; the linear transmission device provides the horizontal degree of freedom for the mechanical paw; the guide rod cylinder provides the vertical degree of freedom for the mechanical paw; the pneumatic fingers provide open-and-close power for the mechanical paw and are simple in structure; as the groove matched with the shape of the workpiece is formed on the mechanical paw, when in the carrying process, the workpiece can be embedded in the groove to avoid easy dropping, so that the workpiece is firmly and reliably caught; and at the same time, reliability design is led in teaching and training equipment, so that students can better understand the reliability design in engineering application, and great practical value is achieved.
Description
Technical field
The utility model relates to a kind of the teaching and goes up the Handling device of utilization, particularly a kind of twin shaft straight line Handling device.
Background technology
In present college's teaching, electromechanical integration real training equipment more and more applies in the teaching, Handling device is as an important component part in the electromechanical integration equipment, use also more and more universal, wherein a class Handling device is provided with the carrying of retained part with the realization workpiece, but does not all consider the clamping reliability design of retained part at present, exists many deficiencies, parts are many simultaneously, complex structure.
Summary of the invention
Technical problem to be solved in the utility model is, provides a kind of clamping twin shaft straight line transfer robot firm, reliable, simple in structure.
For solving the problems of the technologies described above, the utility model is by the following technical solutions: a kind of twin shaft straight line transfer robot, include the linear transmission that horizontal degree of freedom is provided, the guide rod cylinder device of vertical degree of freedom is provided, pneumatic-finger, mechanical paw, described linear transmission is provided with slide block, described guide rod cylinder device includes the guide rod piece, the cylinder guide rod, web joint, cylinder body, described guide rod piece is fixedly connected on the described slide block, described cylinder body is fixedly connected on the guide rod piece, described cylinder guide rod matches with cylinder guide rod hole on being arranged on the guide rod piece, described web joint is arranged on cylinder guide rod end, described cylinder body is provided with piston rod, piston rod is fixedlyed connected with the cylinder guide rod by web joint, the fixedly connected web joint in described pneumatic-finger upper end, described pneumatic-finger lower end is provided with mechanical paw, and described mechanical paw is provided with the groove that is complementary with the workpiece shape.
As a kind of improvement, described groove is to be arranged on circular hole penetrating in the mechanical paw.
As a kind of improvement, the circular hole of described mechanical paw is provided with the detecting device that judges whether to exist workpiece, and the upper end of described mechanical paw is provided with the detecting device that judges whether that clamping puts in place.
As a kind of improvement, linear transmission is a ball wire rod mechanism.
As a kind of improvement, ball wire rod mechanism is provided with guiding rail, described slide block is provided with the chute that cooperates with described guiding rail, described guiding rail is provided with the left limit travel switch, the right limit travel switch, some station travel switches, described slide block are provided with contacting of matching of travel switch and meet and discuss.
The linear transmission of the utility model twin shaft straight line transfer robot provides horizontal degree of freedom for mechanical paw, and the guide rod cylinder device provides vertical degree of freedom for mechanical paw, and pneumatic-finger provides opening and closing power for mechanical paw, and is simple in structure; Mechanical paw is provided with the groove that is complementary with the workpiece shape, in handling process, make during workpiece is embedded in the groove, the workpiece difficult drop-off, make grab workpiece more firmly, reliable; In the practice teaching equipment, introduce reliability design simultaneously, deepened the understanding of reliability design during the student uses engineering, have bigger practical value.
The utility model will be further described below in conjunction with the drawings and specific embodiments.
Description of drawings
Fig. 1 is the general structure schematic perspective view of the utility model twin shaft straight line transfer robot.
Embodiment
As shown in Figure 1, embodiment as a kind of twin shaft straight line transfer robot, include: linear motion device, guide rod cylinder 1, pneumatic-finger 2, mechanical paw 3, a kind of optimal way, linear motion device is a ball wire rod mechanism 6, and ball wire rod mechanism 6 provides the degree of freedom of horizontal direction for robot.Ball wire rod mechanism 6 is provided with slide block 10, guide rod cylinder device 1 includes guide rod piece 11, cylinder guide rod 12, web joint 13, cylinder body 20, guide rod piece 11 is fixedly connected on the slide block 10, cylinder guide rod 12 matches with cylinder guide rod hole 14 on being arranged on guide rod piece 11, web joint 13 is arranged on cylinder guide rod 12 ends, cylinder body 20 is provided with piston rod 19, piston rod 19 is fixedlyed connected with cylinder guide rod 12 by web joint 13, the fixedly connected web joint 13 in pneumatic-finger 2 upper ends, mechanical paw 3 is fixedly connected on pneumatic-finger 2 lower ends, mechanical paw 3 is provided with groove 4, groove 4 shapes and workpiece shape are complementary, and in the process of workpiece handling, are embedded in the groove 4 by workpiece, make the workpiece difficult drop-off, reach the reliable purpose of clamping.A kind of concrete operational mode, workpiece is a spheroid, and groove 4 can be for being arranged on the penetrating circular hole 4 in the described mechanical paw 3, and the radius of circular hole 4 is less than the radius of spheroid, can be set to radius of sphericity 1/3rd to 3/4ths between any one value, be convenient to firmly grasp spherical workpieces.Preferable, the circular hole 4 of described catching hand pawl 3 is provided with detecting device 50, detecting device 50 is aimed at penetrating circular hole 4, in order to whether to have ball to exist on the induction mechanical paw 3, the upper end of mechanical paw 3 is provided with the detecting device 51 that judges whether that clamping puts in place, judge whether mechanical paw 3 has reliably grasped workpiece,, improved the success ratio of clamping if then do not continue clamping once.
Guiding rail 15 is set on the ball wire rod mechanism 6, described slide block 10 is provided with the chute 16 that matches with described guiding rail 15, described guiding rail 15 is provided with the travel switch that a word level arranges, be respectively left limit travel switch 7, some station travel switches 9, right limit travel switch 8, slide block 10 are provided with contacting of matching of travel switch and meet and discuss 18.Left limit travel switch 7 is fixed on the left end of guiding rail 15, as ball screw left side position limitation protection, and when the contact that is provided with on the slide block 10 meets and discusses 18 when running into left limit travel switch 7, disable motor 17 automatically, the stroke of direction is excessive left to prevent ball screw 6.Right limit travel switch 8 is fixed on the right-hand member of guiding rail 15; as ball screw 6 right side position limitation protections; meet and discuss 18 when running into right limit travel switch 8 when the contact that is provided with on the slide block 10, disable motor 17 prevents that ball screw 6 is excessive to the stroke of right automatically.Some station travel switches 9 are arranged between left limit travel switch 7 and the right limit travel switch 8, determine the number of setting according to actual needs, the effect of some station switches is to provide accurate location positioning for robot, when moving to a certain station switch place, robot stops the motion of horizontal direction, finishes the motion of vertical direction or finishes a certain action.
As shown in Figure 1, embodiment as a kind of twin shaft straight line transfer robot, include: linear motion device, guide rod cylinder 1, pneumatic-finger 2, mechanical paw 3, a kind of optimal way, linear motion device is a ball wire rod mechanism 6, and ball wire rod mechanism 6 provides the degree of freedom of horizontal direction for robot.Ball wire rod mechanism 6 is provided with slide block 10, guide rod cylinder device 1 includes guide rod piece 11, cylinder guide rod 12, web joint 13, cylinder body 20, guide rod piece 11 is fixedly connected on the slide block 10, cylinder guide rod 12 matches with cylinder guide rod hole 14 on being arranged on guide rod piece 11, web joint 13 is arranged on cylinder guide rod 12 ends, cylinder body 20 is provided with piston rod 19, piston rod 19 is fixedlyed connected with cylinder guide rod 12 by web joint 13, the fixedly connected web joint 13 in pneumatic-finger 2 upper ends, mechanical paw 3 is fixedly connected on pneumatic-finger 2 lower ends, mechanical paw 3 is provided with groove 4, groove 4 shapes and workpiece shape are complementary, and in the process of workpiece handling, are embedded in the groove 4 by workpiece, make the workpiece difficult drop-off, reach the reliable purpose of clamping.A kind of concrete operational mode, workpiece is a spheroid, and groove 4 can be for being arranged on the penetrating circular hole 4 in the described mechanical paw 3, and the radius of circular hole 4 is less than the radius of spheroid, can be set to radius of sphericity 1/3rd to 3/4ths between any one value, be convenient to firmly grasp spherical workpieces.Preferable, the circular hole 4 of described catching hand pawl 3 is provided with detecting device 50, detecting device 50 is aimed at penetrating circular hole 4, in order to whether to have ball to exist on the induction mechanical paw 3, the upper end of mechanical paw 3 is provided with the detecting device 51 that judges whether that clamping puts in place, judge whether mechanical paw 3 has reliably grasped workpiece,, improved the success ratio of clamping if then do not continue clamping once.
Guiding rail 15 is set on the ball wire rod mechanism 6, described slide block 10 is provided with the chute 16 that matches with described guiding rail 15, described guiding rail 15 is provided with the travel switch that a word level arranges, be respectively left limit travel switch 7, some station travel switches 9, right limit travel switch 8, slide block 10 are provided with contacting of matching of travel switch and meet and discuss 18.Left limit travel switch 7 is fixed on the left end of guiding rail 15, as ball screw left side position limitation protection, and when the contact that is provided with on the slide block 10 meets and discusses 18 when running into left limit travel switch 7, disable motor 17 automatically, the stroke of direction is excessive left to prevent ball screw 6.Right limit travel switch 8 is fixed on the right-hand member of guiding rail 15; as ball screw 6 right side position limitation protections; meet and discuss 18 when running into right limit travel switch 8 when the contact that is provided with on the slide block 10, disable motor 17 prevents that ball screw 6 is excessive to the stroke of right automatically.Some station travel switches 9 are arranged between left limit travel switch 7 and the right limit travel switch 8, determine the number of setting according to actual needs, the effect of some station switches is to provide accurate location positioning for robot, when moving to a certain station switch place, robot stops the motion of horizontal direction, finishes the motion of vertical direction or finishes a certain action.
Principle of work: ball wire rod mechanism 6 provides the degree of freedom of horizontal direction for mechanical paw 3, by controlling the forward or reverse of coupled motor 17, drives slide block 10 and moves to the left or to the right, and the motion of horizontal direction is provided for mechanical paw 3; Guide rod cylinder device 1 provides the degree of freedom of vertical direction for mechanical paw 3, and mechanical paw 3 fixedly connected guide rod cylinder devices 1 are finished lifting, the down maneuver of mechanical paw 3 by the inlet, outlet of control guide rod cylinder device 1; Pneumatic-finger 2 finish mechanical paw 3 extracting, unclasp workpiece action, by the inlet, outlet of the cylinder that is connected with pneumatic-finger of control, control the opening and closing of pneumatic-finger, realize coupled mechanical paw 3 extracting, unclasp workpiece action; Mechanical paw 3 is provided with groove 4 parts that are complementary with the workpiece shape, in handling process, make during workpiece is embedded in the groove 4, workpiece difficult drop-off, grabbing workpiece more firmly, reliable, increase the reliability and the success ratio of mechanical paw 3 clampings simultaneously; Above structure cooperatively interacts and realizes the carrying function of twin shaft straight line transfer robot.
Claims (5)
1. twin shaft straight line transfer robot, it is characterized in that: include the linear transmission that horizontal degree of freedom is provided, the guide rod cylinder device (1) of vertical degree of freedom is provided, pneumatic-finger (2), mechanical paw (3), described linear transmission is provided with slide block (10), described guide rod cylinder device (1) includes guide rod piece (11), cylinder guide rod (12), web joint (13), cylinder body (20), described guide rod piece (11) is fixedly connected on the described slide block (10), described cylinder body (20) is fixedly connected on the guide rod piece (11), described cylinder guide rod (12) matches with cylinder guide rod hole (14) on being arranged on guide rod piece (11), described web joint (13) is arranged on cylinder guide rod (12) end, described cylinder body (20) is provided with piston rod (19), piston rod (19) is fixedlyed connected with cylinder guide rod (12) by web joint (13), described pneumatic-finger (2) upper end fixedly connected web joint (13), described pneumatic-finger (2) lower end is provided with mechanical paw (3), and described mechanical paw (3) is provided with the groove (4) that is complementary with the workpiece shape.
2. twin shaft straight line transfer robot according to claim 1 is characterized in that described groove (4) is for being arranged on penetrating circular hole in the mechanical paw (3).
3. twin shaft straight line transfer robot according to claim 2, the circular hole (4) that it is characterized in that described mechanical paw (3) is provided with the detecting device (50) that judges whether to exist workpiece, and the upper end of described mechanical paw (3) is provided with the detecting device (51) that judges whether clamping and put in place.
4. according to claim 1 or 2 or 3 described twin shaft straight line transfer robots, it is characterized in that linear transmission is ball wire rod mechanism (6).
5. twin shaft straight line transfer robot according to claim 4, it is characterized in that ball wire rod mechanism (6) is provided with guiding rail (15), described slide block (10) is provided with the chute (16) that cooperates with described guiding rail (15), described guiding rail (15) is provided with left limit travel switch (7), right limit travel switch (8), some station travel switches (9), described slide block (10) are provided with travel switch matches and contact meet and discuss (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201234538U CN201522805U (en) | 2009-06-25 | 2009-06-25 | double-shaft linear carrying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201234538U CN201522805U (en) | 2009-06-25 | 2009-06-25 | double-shaft linear carrying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201522805U true CN201522805U (en) | 2010-07-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009201234538U Expired - Lifetime CN201522805U (en) | 2009-06-25 | 2009-06-25 | double-shaft linear carrying robot |
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|---|---|
| CN (1) | CN201522805U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102528798A (en) * | 2012-01-17 | 2012-07-04 | 邹建炀 | Novel parallel transporting mechanical arm |
| CN103158133A (en) * | 2011-12-09 | 2013-06-19 | 苏州工业园区高登威科技有限公司 | Workpiece clamping assembly |
| CN103341854A (en) * | 2013-07-24 | 2013-10-09 | 苏州大学 | Double-shaft-controlled carrying mechanical arm |
| CN103831823A (en) * | 2013-12-27 | 2014-06-04 | 广州奥迪通用照明有限公司 | Novel manipulator |
| CN104552283A (en) * | 2015-01-09 | 2015-04-29 | 广西大学 | Three freedom degree polar coordinate type hydraulic drive manipulator for teaching |
| CN104723320A (en) * | 2013-12-20 | 2015-06-24 | 广西大学 | Three-degree-of-freedom polar coordinate type teaching pneumatic manipulator |
| CN105945920A (en) * | 2016-06-12 | 2016-09-21 | 浙江工业大学 | Transporting mechanical arm for transporting storage box |
| CN108163532A (en) * | 2018-01-11 | 2018-06-15 | 太仓比泰科自动化设备有限公司 | A kind of test semi-automatic casing assembly machine of probe |
| CN108340362A (en) * | 2018-04-26 | 2018-07-31 | 上海工程技术大学 | A kind of loading and unloading transplanting machine arm device |
| CN110039388A (en) * | 2019-05-27 | 2019-07-23 | 南京灵雀智能制造有限公司 | A kind of automatic reeling machine device people of metal tubing and its whole routing method |
-
2009
- 2009-06-25 CN CN2009201234538U patent/CN201522805U/en not_active Expired - Lifetime
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103158133A (en) * | 2011-12-09 | 2013-06-19 | 苏州工业园区高登威科技有限公司 | Workpiece clamping assembly |
| CN102528798A (en) * | 2012-01-17 | 2012-07-04 | 邹建炀 | Novel parallel transporting mechanical arm |
| CN103341854A (en) * | 2013-07-24 | 2013-10-09 | 苏州大学 | Double-shaft-controlled carrying mechanical arm |
| CN104723320A (en) * | 2013-12-20 | 2015-06-24 | 广西大学 | Three-degree-of-freedom polar coordinate type teaching pneumatic manipulator |
| CN103831823A (en) * | 2013-12-27 | 2014-06-04 | 广州奥迪通用照明有限公司 | Novel manipulator |
| CN103831823B (en) * | 2013-12-27 | 2016-08-24 | 广州奥迪通用照明有限公司 | A kind of new mechanical arm |
| CN104552283A (en) * | 2015-01-09 | 2015-04-29 | 广西大学 | Three freedom degree polar coordinate type hydraulic drive manipulator for teaching |
| CN105945920A (en) * | 2016-06-12 | 2016-09-21 | 浙江工业大学 | Transporting mechanical arm for transporting storage box |
| CN108163532A (en) * | 2018-01-11 | 2018-06-15 | 太仓比泰科自动化设备有限公司 | A kind of test semi-automatic casing assembly machine of probe |
| CN108340362A (en) * | 2018-04-26 | 2018-07-31 | 上海工程技术大学 | A kind of loading and unloading transplanting machine arm device |
| CN110039388A (en) * | 2019-05-27 | 2019-07-23 | 南京灵雀智能制造有限公司 | A kind of automatic reeling machine device people of metal tubing and its whole routing method |
| CN110039388B (en) * | 2019-05-27 | 2019-11-05 | 南京灵雀智能制造有限公司 | A kind of automatic reeling machine device people of metal tubing and its whole routing method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Double-shaft linear carrying robot Effective date of registration: 20140120 Granted publication date: 20100707 Pledgee: Bank of Communications Ltd Wenzhou Yongjia branch Pledgor: Zhejiang Yalong Education Equipment Co., Ltd. Registration number: 2014990000049 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20160331 Granted publication date: 20100707 Pledgee: Bank of Communications Ltd Wenzhou Yongjia branch Pledgor: Zhejiang Yalong Education Equipment Co., Ltd. Registration number: 2014990000049 |
|
| PLDC | Enforcement, change and cancellation of contracts on pledge of patent right or utility model | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 325105 Yalong School Industrial Park (Fort two industrial area), Yongjia, Zhejiang Patentee after: Yalong intelligent equipment group Limited by Share Ltd Address before: 325105 Yalong School Industrial Park (Fort two industrial area), Yongjia, Zhejiang Patentee before: Zhejiang Yalong Education Equipment Co., Ltd. |
|
| CP01 | Change in the name or title of a patent holder | ||
| CX01 | Expiry of patent term |
Granted publication date: 20100707 |
|
| CX01 | Expiry of patent term |