CN203092556U - Multi-joint mechanical arm - Google Patents
Multi-joint mechanical arm Download PDFInfo
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- CN203092556U CN203092556U CN 201320069262 CN201320069262U CN203092556U CN 203092556 U CN203092556 U CN 203092556U CN 201320069262 CN201320069262 CN 201320069262 CN 201320069262 U CN201320069262 U CN 201320069262U CN 203092556 U CN203092556 U CN 203092556U
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- 230000005540 biological transmission Effects 0.000 claims description 18
- 238000000605 extraction Methods 0.000 claims description 17
- 210000002683 foot Anatomy 0.000 description 6
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- 239000003638 chemical reducing agent Substances 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 239000000284 extract Substances 0.000 description 3
- 239000004973 liquid crystal related substance Substances 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 241000239290 Araneae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000006227 byproduct Substances 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
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- 238000012360 testing method Methods 0.000 description 1
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Abstract
The utility model provides a multi-joint mechanical arm and belongs to the technical field of automatic mechanical arms. The multi-joint mechanical arm comprises a rack horizontally-moving mechanism, a rack, a tumbler perpendicularly-moving mechanism, a tumbler transversely-moving mechanism, a big tumbler mechanism, a small tumbler mechanism, and a workpiece pick-up mechanism, wherein the rack horizontally-moving mechanism is arranged on a terrace, the rack is connected with the rack horizontally-moving mechanism, the tumbler perpendicularly-moving mechanism is arranged on the rack, the tumbler transversely-moving mechanism is assembled on the rack, the big tumbler mechanism is connected with the tumbler perpendicularly-moving mechanism and the tumbler transversely-moving mechanism, the small tumbler mechanism is connected with the big tumbler mechanism in a cantilever state, and the workpiece pick-up mechanism is connected on the small tumbler mechanism. The multi-joint mechanical arm has the advantages of being capable of meeting the requirement that a workpiece is picked up from a die in one position and accurately moved to a specific area or transferred into a die in a next position, and relieving work intensity of workers. In addition, the multi-joint mechanical arm cannot cause deformation of the workpiece.
Description
Technical field
The utility model belongs to the automatic manipulator technical field, is specifically related to a kind of multi-joint manipulator.
Background technology
Manipulator is specific frock machinery, and so-called specific frock machinery is meant in to the manufacturing of certain or a certain series products and/or subsequent handling process workpiece is positioned and/or extracts and shifts, satisfying the special equipment of certain technological requirement, and need satisfy usually at workpiece and add the phenomenon of not having interference man-hour, extract requirements such as accurate and easy to operate and good reliability.
With the stamped workpieces is example, if the people is for carrying out manual operations, so at first the workpiece of blanking (also claiming blanking) is taken out from mould by the operator on the blanking station, through conveying device or artificially carry and be transferred to the drawing station, by the operator on the drawing station workpiece is put into mould, and should confirm repeatedly whether the workpiece of putting in the shaping dies is put in normal place, so operation one side workman's manipulation strength is big, influences forming efficiency on the other hand.In addition, with the workpiece transfer of blanking to the process of forming station, in case lift improper, then can cause being out of shape and influence the quality of product, especially for those large tracts of land or claim big specification such as the liquid crystal TV set backboard, the probability of distortion is higher, must be double cautious when lifting.Occur distortion in the process that between station, shifts for fear of workpiece and alleviate working strength of workers, industry generally uses the manipulator of unidirectional motion to substitute, the manipulator of so-called unidirectional motion is meant and can on same horizontal line workpiece be transferred to another station from a station, though this manipulator has the simple relatively and relatively cheap strong point of structure, it is its deficiency that but precision is difficult to guarantee, especially needs for example aforesaid back panel of liquid crystal display of point-device product or similar products like for those processing.
The technical information of visible all multi-joint manipulators in disclosed Chinese patent literature, for example invention patent mandate notification number CN101272886C recommends to have " multi-joint manipulator, robot system and both arms multi-joint ", this patent simply improves arm movement speed and can carry weight in narrow space with teaching method, it is provided with a plurality of arm bodies with series system, joint portion connects by two adjacent arm bodies are coaxial with rotating freely, and an arm body rotates freely with respect to another arm body.Obviously this patent scheme does not have referential meaning for solving applicant's technical problem recited above.Again, " manipulator controller " that " charging reclaimer robot " that invention patent mandate notification number CN1197747C provides and CN1181418C introduce or the like do not have the enlightenment effect equally for solving aforementioned technical problem.
The document that why is not limited to exemplify does not above have the relief effect for solving the described technical problem of applicant, be because as described above, manipulator belongs to specific frock machinery, and because the generalization degree of specific frock machinery is extremely low, need at certain product or workpiece and design voluntarily and make with the mode of cutting the garment according to the figure production firm by product or workpiece, then for automatic extraction such as large-sized aforementioned flat back panel of liquid crystal display or similarly workpiece need otherwise designed equally.For this reason, the applicant has done positive and useful design, has formed technical scheme described below finally, and is taking to have carried out simulated test in the applicant plant area under the strict secrecy provision, and it is practicable that the result proves.
Summary of the invention
Task of the present utility model is to provide a kind of and helps to extract workpiece in the mould from a station easily and quickly and accurately be transferred to specific zone or be transferred in the mould of next station, help significantly alleviating operator's operation intensity and improve operating efficiency and be of value to the multi-joint manipulator of avoiding causing workpiece deformation the workpiece transfer process.
Task of the present utility model is finished like this, and a kind of multi-joint manipulator comprises a frame horizontal mobile mechanism, and this frame horizontal mobile mechanism is arranged on the terrace of field of employment movably; One frame, this frame and described frame horizontal mobile mechanism are in transmission connection, and move horizontally under the driving of frame horizontal mobile mechanism; The vertical travel mechanism of one pivoted arm, the vertical travel mechanism of this pivoted arm is arranged on the described frame; One pivoted arm transverse moving mechanism, this pivoted arm transverse moving mechanism slide up or down and are provided on the described frame; One big whirling arm mechanism, this big whirling arm mechanism and the vertical travel mechanism of described pivoted arm are in transmission connection, and are in transmission connection with described pivoted arm transverse moving mechanism; One little whirling arm mechanism, this little whirling arm mechanism is connected with described big whirling arm mechanism with cantilever position; One workpiece extraction mechanism, this workpiece extraction mechanism is connected on the little whirling arm mechanism.
In a specific embodiment of the present utility model, described frame horizontal mobile mechanism comprises pedestal, first motor, first reduction box, first gear and a pair of horizontal guide rail, pedestal is arranged on the terrace of field of employment movably, first motor cooperates with the first reduction box transmission, and be fixed in the pedestal chamber of pedestal together with first motor by first reduction box, the first reduction box final stage power output shaft of this first reduction box leans out the top surface of pedestal, first gear is fixed on the first reduction box final stage power output shaft, a pair of horizontal guide rail is separately fixed at the both sides of length direction of the top surface of described pedestal each other with parallel state, described frame is connected with described first gear drive, and be slidingly matched with described a pair of horizontal guide rail, the vertical travel mechanism of described pivoted arm is positioned at the below of frame, described pivoted arm transverse moving mechanism is positioned at the top of the vertical travel mechanism of pivoted arm, described big whirling arm mechanism is between described little whirling arm mechanism and frame, and described workpiece extraction mechanism is fixed on the little whirling arm mechanism with the horizontal boom state.
In another specific embodiment of the present utility model, in the bottom of described frame and in fixed-site one tooth bar is arranged corresponding to described first gear, this tooth bar is meshed with first gear, and the both sides in the bottom of frame respectively are fixed with the pair of guide rails slide block, wherein: be arranged in the pair of guide rails slide block of a side and wherein horizontal guide rail of described a pair of horizontal guide rail and be slidingly matched, and be arranged in the pair of guide rails slide block of opposite side and another root horizontal guide rail of a pair of horizontal guide rail is slidingly matched, be fixed with a pair of longitudinal rail towards the top of a side of described big whirling arm mechanism with vertically parallel state in frame, the described arm transverse moving mechanism of passing on is slidingly matched with this a pair of longitudinal rail, and it is corresponding with the sliding window on the top that is opened in frame, the vertical travel mechanism of described pivoted arm is corresponding to the below of sliding window, be fixed with a big pivoted arm lifter rack on the described big whirling arm mechanism, this big pivoted arm lifter rack cooperates with the vertical travel mechanism of pivoted arm transmission, described workpiece extraction mechanism comprises suction cup carrier and one group of sucker, one end of suction cup carrier and described little whirling arm mechanism are fixed, and one group of sucker is fixed on the other end of suction cup carrier.
In another specific embodiment of the present utility model, the vertical mobile device of described pivoted arm comprises second motor, second reduction box, the reduction box axle bed, second gear and tooth bar limited roller, second motor cooperates with the second reduction box transmission, and be fixed on the side of described frame together with second motor back to described big whirling arm mechanism by second reduction box, the reduction box axle bed is fixed on the side of frame towards big whirling arm mechanism, and below corresponding to described sliding window, the second reduction box final stage power output shaft of second reduction box passes frame and is bearing in rotationally on the reduction box axle bed, second gear is fixed on the second reduction box final stage power output shaft, the tooth bar limited roller is arranged on the frame rotationally, and a side corresponding to second gear, described big pivoted arm lifter rack is meshed between roller and second gear and with second gear, tooth bar limited roller and the side contacts of big pivoted arm lifter rack back to second gear.
In another specific embodiment of the present utility model, described pivoted arm transverse moving mechanism comprises the 3rd motor, the 3rd reduction box, the reduction box fixed connecting base, vertical slide unit and slide unit axle bed, the 3rd motor cooperates with the 3rd reduction box transmission, and by the 3rd reduction box together with the 3rd motor corresponding to the fixed-site of described sliding window on the reduction box fixed connecting base, the reduction box fixed connecting base is positioned at the side of described frame towards described big whirling arm mechanism, vertically slide unit and reduction box fixed connecting base are fixed, and be slidingly matched with described a pair of longitudinal rail, the slide unit axle bed is fixed on the side of vertical slide unit towards described big whirling arm mechanism, and be connected with big whirling arm mechanism, and big whirling arm mechanism is nested with on the 3rd reduction box final stage power output shaft of the 3rd reduction box, described end in described suction cup carrier is equipped with one group of suction cup carrier hold-down screw, this group suction cup carrier hold-down screw is fixedlyed connected with described little whirling arm mechanism, and the described other end of suction cup carrier offers sucker position adjustment groove, and described one group of sucker is being fixed in position and the suction cup carrier of adjusting groove corresponding to the sucker position.
Also have in the specific embodiment of the present utility model, described big whirling arm mechanism comprises a pair of ring flange, big synchronous pulley, the first location synchronous pulley, location synchronous pulley axle, small synchronous pulley, the second location synchronous pulley, first, second band and pivoted arm synchronously greatly, a pair of ring flange is fixed on described the 3rd reduction box final stage power output shaft with facing each other, the first location synchronous pulley is fixed with big synchronous pulley, be enclosed within on the 3rd reduction box final stage power output shaft together with the first location synchronous pulley sky by big synchronous pulley, and between described a pair of ring flange, location synchronous pulley axle is bearing in the upper end of big pivoted arm rotationally, and on this location synchronous pulley axle, be arranged with an axle sleeve, small synchronous pulley is fixed on the axle sleeve, the second location synchronous pulley is fixed on the synchronous pulley axle of location, first end of being with synchronously is nested with on big synchronous pulley, the other end is nested with on small synchronous pulley, second end of being with synchronously is nested with on the first location synchronous pulley, the other end is nested with on the second location synchronous pulley, the lower end and a pair of ring flange of big pivoted arm are fixed, wherein, big synchronous pulley is fixed by big synchronous pulley holder and described slide unit axle bed, described the 3rd reduction box final stage power output shaft is bearing on the described slide unit axle bed rotationally, described little whirling arm mechanism is fixedlyed connected with described location synchronous pulley axle with cantilever position, and described one group of sucker fixing with suction cup carrier is connected with the depression generator negative pressure line by pipeline.
More of the present utility model and in specific embodiment, described little whirling arm mechanism comprises little pivoted arm, the 3rd, the 4th location synchronous pulley, suction cup carrier axle and the 3rd is with synchronously, fixedly connected with described axle sleeve in the upper end of little pivoted arm, the 3rd location synchronous pulley is fixed on the synchronous pulley axle of described location, the suction cup carrier axle is arranged on the lower end of little pivoted arm rotationally, and this suction cup carrier axle leans out little pivoted arm towards an end of described suction cup carrier, the 3rd location synchronous pulley is fixed on the synchronous pulley axle of location, the 4th location synchronous pulley is fixed on the suction cup carrier axle, the 3rd end of being with synchronously is nested with on the 3rd location synchronous pulley, the other end is nested with on the 4th location synchronous pulley, and the described suction cup carrier and the suction cup carrier axle of described workpiece extraction mechanism are fixed.
In of the present utility model and then specific embodiment, constitute a tooth bar position-limit foot in the bottom of described big pivoted arm lifter rack, this tooth bar position-limit foot is corresponding to the below of described tooth bar limited roller.
Of the present utility model again more and in specific embodiment, described big pivoted arm is provided with one first synchronous belt tension device and one second synchronous belt tension device, the first synchronous belt tension device and described first is with synchronously and is matched, and the second synchronous belt tension device and second band synchronously matches.
In again of the present utility model and then specific embodiment, on the synchronous pulley axle of described location, be provided with a guard shield with airborne, this guard shield is corresponding to the top of described big pivoted arm and described little whirling arm mechanism.
The technical scheme that the utility model provides is ensured the position of frame by the frame horizontal mobile mechanism, vertical travel mechanism ensures moving up and down of big whirling arm mechanism by pivoted arm, ensure the swing of the horizontal direction of big whirling arm mechanism by the pivoted arm transverse moving mechanism, thereby drive little whirling arm mechanism and then drive the workpiece extraction mechanism by big whirling arm mechanism and move in the horizontal direction, will extract and accurately be transferred to specific zone in the mould of workpiece from the station or be transferred to requirement in the mould of next station to satisfy by little whirling arm mechanism; Owing to need not by workman's manual extraction workpiece, therefore can alleviate workman's operation intensity, and can not cause workpiece deformation.
Description of drawings
Fig. 1 is example structure figure of the present utility model.
Fig. 2 is the cutaway view of Fig. 1.
The specific embodiment
For the auditor that the makes Patent Office especially public can be expressly understood technical spirit of the present utility model and beneficial effect more, the applicant general elaborates in the mode of embodiment below, but to the description of embodiment all is not restriction to the utility model scheme, any according to the utility model design done only for pro forma but not substantial equivalent transformation all should be considered as the technical solution of the utility model category.
See also Fig. 1 and Fig. 2, provided a frame horizontal mobile mechanism 1, this frame horizontal mobile mechanism 1 is arranged on the terrace of field of employment movably, understanding for the ease of the public, the applicant shows a pair of terrace guide rail 9 that is laid on the terrace in the drawings, and this a pair of terrace guide rail 9 is parallel.Aforesaid frame horizontal mobile mechanism 1 comprises pedestal 11, first motor 12, first reduction box 13, first gear 14 and a pair of horizontal guide rail 15, in the bottom of pedestal 11 and be positioned at the bottom four bights each be provided with a roller 112 rotationally, roller 112 constitutes rolling pairs with aforesaid terrace guide rail 9.The servomotor of first motor 12 for having the rotating function, this first motor 12 cooperates with 13 transmissions of first reduction box, and is fixed in the pedestal chamber 111 of pedestal 11 together with first motor 12 by first reduction box 13.Shown in figure, on the roof of pedestal 11, be fixed with a connecting axle bearing 1311, the first reduction box final stage power output shaft 131 of first reduction box 13 is bearing on this connecting axle bearing 1311 rotationally, and this first reduction box final stage power output shaft 13 also leans out the roof of pedestal 11.First gear, the 14 preferred flat keys that adopt are fixed on the first reduction box final stage power output shaft 131.Shown in figure, it is fixing in the position in the chamber 113 of stepping down corresponding to gear and the first reduction box final stage power output shaft 131 to constitute gear chamber 113, the first gears 14 of stepping down on the roof of pedestal 11 and in the position corresponding to connecting axle bearing 1311.Again, outer surface at the roof of pedestal 11 is fixed with a pair of horizontal guide rail 15, this is positioned at the side of length direction of the roof of pedestal 11 to the wherein horizontal guide rail 15 in the horizontal guide rail 15, and another root horizontal guide rail 15 in a pair of horizontal guide rail 15 is positioned at the opposite side of length direction of the roof of pedestal 11.
Provided a frame 2, both sides in the bottom of this frame 2 respectively are fixed with pair of guide rails slide block 22, wherein the pair of guide rails slide block 22 of a side is slidingly matched with wherein horizontal guide rail 15 in the aforementioned a pair of horizontal guide rail 15, and another root horizontal guide rail 15 of the pair of guide rails slide block 22 that is arranged in opposite side and aforesaid a pair of horizontal guide rail 15 is slidingly matched.Middle position in the bottom of frame 21 is fixed with a tooth bar holder 211, illustrated tooth bar 21 usefulness tooth bar hold-down screws 212 are fixed on the tooth bar holder 211, and the length direction at this tooth bar 21 constitutes rack tooth towards a side of aforementioned first gear 14, and rack tooth is meshed with first gear 14.Be fixed with a pair of longitudinal rail 23 towards a side of the following big whirling arm mechanism 5 that also will describe with vertically parallel state in frame 2.Constitute a sliding window 24 on the top of frame 2, sliding window 24 is the U font.
When 12 work of first motor, adopt worm gear reducer through the first reduction box 13() the first reduction box final stage power output shaft 131 drive first gear 14, thereby drive tooth bar 21 by first gear 14, drive frame 2 by tooth bar 21 and following aforesaid a pair of horizontal guide rail 15 slips, to realize adjustment the operating position of frame 2.
Provided the vertical travel mechanism 3 of a pivoted arm, the vertical travel mechanism 3 of this pivoted arm preferably but not the structure that definitely is limited to is as follows: comprise through two motors 31, second reduction box 32, reduction box axle bed 33, second gear 34 and tooth bar limited roller 35, the motor of second motor 31 for having the rotating function, and cooperate with 32 transmissions of second reduction box, and be fixed on the reduction box Connection Block 322 together with second motor 31 by second reduction box 32, these reduction box Connection Block 322 usefulness Connection Block hold-down screws 3221 are fixed on the side of aforementioned frame 2 back to big whirling arm mechanism 5.Reduction box axle bed 33 is fixed on the side of frame 2 towards big whirling arm mechanism 5, and corresponding to the below of aforementioned sliding window 24.The second reduction box final stage power output shaft 321 of aforesaid second reduction box 32 is being bearing on the reduction box axle bed 33 rotationally by bearing spider 3211 after the chassis wall of passing frame 2.Second gear 34 is fixed on the second reduction box final stage power output shaft 321, and in the axle bed chamber corresponding to aforementioned reduction box axle bed 33.Tooth bar limited roller 35 is arranged on the frame 2 rotationally, maintains the space between this tooth bar limited roller 35 and aforesaid second gear 34, constitutes lifter rack sliding cavity 351 by this space.
When 31 work of second motor, drive the second reduction box 32(by this second motor 31 and adopt worm gear reducer), the second reduction box final stage power output shaft 321 by this second reduction box 32 drives second gear 34, drives illustrated and big pivoted arm lifter rack 8 that fixedly connected with pivoted arm transverse moving mechanism 4 by this second gear 34.Be meshed with second gear 34 at position by big pivoted arm lifter rack 8 shown in the figure corresponding to aforesaid lifter rack sliding cavity 351, and the bottom at big pivoted arm lifter rack 8 is fixed with a tooth bar position-limit foot 81, spacing by 35 pairs of these tooth bar position-limit foots 81 of aforesaid tooth bar limited roller, that is to say when big pivoted arm lifter rack 8 upwards is displaced to its tooth bar position-limit foot 81 with degree that tooth bar limited roller 35 contacts, then big pivoted arm lifter rack 8 is because of being subjected to the stopping no longer to top offset of 35 pairs of tooth bar position-limit foots 81 of tooth bar limited roller, thus can guarantee big pivoted arm lifter rack 8 remained in the engagement of second gear 34.
Please continue to see Fig. 1 and Fig. 2, provided a pivoted arm transverse moving mechanism 4, this pivoted arm transverse moving mechanism 4 preferred but not structure that be limited to is as follows: comprise the 3rd motor 41, the 3rd reduction box 42, reduction box fixed connecting base 43, vertical slide unit 44 and slide unit axle bed 45, the motor of motor 41 for having the rotating function, and cooperate with 42 transmissions of the 3rd reduction box, the 3rd reduction box 42 is a worm gear reducer, and by the 3rd reduction box 42 together with the 3rd motor 41 corresponding to the fixed-site of aforesaid sliding window 24 on reduction box fixed connecting base 43, and this reduction box fixed connecting base 43 is positioned at the side of aforementioned frame 2 towards big whirling arm mechanism 5.Be stretched over big whirling arm mechanism 5 after a resigning hole 431, the three reduction box final stage power output shafts 421 pass this resigning hole 421 and show offering on the reduction box fixed connecting base 43 and in position by output shaft block bearing 4211(Fig. 2 corresponding to the 3rd reduction box final stage power output shaft 421 of the 3rd reduction box 42) be bearing in rotationally on the slide unit axle bed 45.Vertically slide unit 44 is fixing with reduction box fixed connecting base 43, and is slidingly matched with aforesaid a pair of longitudinal rail 23.Shown in figure, towards a side of frame 2 and in fixed-site vertical slide unit slide block 441 is arranged at vertical slide unit 44 corresponding to a pair of longitudinal rail 23, vertically slide unit slide block 441 is slidingly matched with longitudinal rail.Slide unit axle bed 45 is fixed on the side of vertical slide unit 44 towards aforementioned big whirling arm mechanism 5, and be connected with big whirling arm mechanism 5, and the lower end of big whirling arm mechanism 5 is nested with on the 3rd reduction box final stage power output shaft 41, that is to say that aforesaid the 3rd reduction box final stage power output shaft 421 is bearing on the slide unit axle bed 45 rotationally in the lower end of passing big whirling arm mechanism 5 and by output shaft supporting base 4211.
Under the work of the 3rd motor 41, drive the 3rd reduction box 42 by the 3rd motor 41, by big whirling arm mechanism 5 swings of the 3rd reduction box final stage power output shaft 421 drives of the 3rd reduction box 42.
The big whirling arm mechanism of mentioning repeatedly above 5 comprises a pair of ring flange 51, big synchronous pulley 52, the first location synchronous pulley 53, location synchronous pulley axle 54, small synchronous pulley 55, the second location synchronous pulley 56, first, second is with 57a synchronously, 57b and big pivoted arm 58, a pair of ring flange 51 is fixed on aforesaid the 3rd reduction box final stage power output shaft 421 with facing each other, the first location synchronous pulley 53 is positioned at a big side of driven wheel 52 synchronously, be enclosed within on the second reduction box final stage power output shaft 421 together with first location synchronous pulley 53 skies by this big synchronous pulley 52, and between a pair of ring flange 51.Show that by Fig. 1 and Fig. 2 big synchronous pulley 52 is with synchronous pulley holder 521 is fixing greatly, and big synchronous pulley holder 521 is fixed by holder attachment screw 5211 and aforesaid slide unit axle bed 45.Location synchronous pulley axle 54 is bearing in the upper end of big pivoted arm 58 rotationally, and is arranged with an axle sleeve 541 on this location synchronous pulley axle 54, and small synchronous pulley 55 is fixed on the axle sleeve 541, and the second location synchronous pulley 56 is fixed on the location synchronous pulley axle 54.First is with the end of 57a to be nested with on big synchronous pulley 52 synchronously, and the other end is nested with on small synchronous pulley 55, and second is with the end of 57b to be nested with on the first location synchronous pulley 53 synchronously, and the other end is nested with second and locatees on the synchronous pulley 56.Shown in figure, big pivoted arm 58 be provided with one be used for to first synchronously the first synchronous belt tension device 581 and adjusted of the expanding force of band 57a be used for the second second synchronous belt tension device 582 adjusted of the expanding force of band 57b synchronously.Again, on aforesaid location synchronous pulley axle 54, be provided with a guard shield 542, provide convenience for the cabling of the tracheae of one group of sucker 72 of the following workpiece extraction mechanism 7 that also will mention or title lay by guard shield 542 with airborne.
Above mentioned little whirling arm mechanism 6 preferably but not the structure that definitely is limited to is as follows: comprise that little pivoted arm 61, the 3rd, the 4th synchronous pulley 62,63, suction cup carrier axle 64 and the 3rd be with 65 synchronously, fixedly connected with the axle sleeve ring flange 5411 of aforementioned axle sleeve 541 in the upper end of little pivoted arm 61, the 3rd location synchronous pulley 62 is fixed on aforesaid location and drives synchronously on the wheel shaft 54, suction cup carrier axle 64 is arranged on the lower end of little pivoted arm 61 rotationally by bearing block 641, and this suction cup carrier axle 64 is towards below an end of the workpiece extraction mechanism 7 described being leant out little pivoted arm 61.The 3rd location synchronous pulley 62 is fixed on the location synchronous pulley axle 54, and the 4th location synchronous pulley 63 is fixed on the suction cup carrier axle 64, and the 3rd is nested with on the 3rd location synchronous pulley 62 with an end of 65 synchronously, and the other end is nested with on the 4th location synchronous pulley 63.
Please still referring to Fig. 1 and Fig. 2, above mentioned workpiece extraction mechanism 7 comprises a suction cup carrier 71 and one group of sucker 72, end in suction cup carrier 71 is equipped with one group of suction cup carrier hold-down screw 711, this group suction cup carrier hold-down screw 711 is fixing with the screw hole 642 that is preset on the aforesaid suction cup carrier axle 64, and the other end of suction cup carrier 7 offers sucker position adjustment groove 712, one group of sucker 72 is fixing in the position of adjusting groove 712 corresponding to this sucker position and suction cup carrier 71, this group sucker 72 by pipeline and depression generator such as vavuum pump or similarly device be connected, by 72 pairs of workpiece 10 stickings or releases of illustrating by Fig. 2 of one group of sucker.
Said structure is in the process of big pivoted arm 58 swings, and the traction by big belt pulley 52 turns clockwise little synchronous driven wheel 55, and then also clockwise rotates by the little pivoted arm 61 of axle sleeve flange 5421 drives of axle sleeve 542; Meanwhile be with under the traction of 57b synchronously second, the the 3rd, the 4th location synchronous pulley 62,63, the first location synchronous pulley 53 and the second location synchronous pulley 56 are remained in same position, thereby can make workpiece extraction mechanism 7 reposefully workpiece 10 is transferred to another station from a station.
Claims (10)
1. a multi-joint manipulator is characterized in that comprising a frame horizontal mobile mechanism (1), and this frame horizontal mobile mechanism (1) is arranged on the terrace of field of employment movably; One frame (2), this frame (2) is in transmission connection with described frame horizontal mobile mechanism (1), and moves horizontally under the driving of frame horizontal mobile mechanism (1); The vertical travel mechanism of one pivoted arm (3), the vertical travel mechanism of this pivoted arm (3) are arranged on the described frame (2); One pivoted arm transverse moving mechanism (4), this pivoted arm transverse moving mechanism (4) slide up or down and are provided on the described frame (2); One big whirling arm mechanism (5), this big whirling arm mechanism (5) is in transmission connection with the vertical travel mechanism of described pivoted arm (3), and is in transmission connection with described pivoted arm transverse moving mechanism (4); One little whirling arm mechanism (6), this little whirling arm mechanism (6) is connected with described big whirling arm mechanism (5) with cantilever position; One workpiece extraction mechanism (7), this workpiece extraction mechanism (7) is connected on the little whirling arm mechanism (6).
2. multi-joint manipulator according to claim 1, it is characterized in that described frame horizontal mobile mechanism (1) comprises pedestal (11), first motor (12), first reduction box (13), first gear (14) and a pair of horizontal guide rail (15), pedestal (11) is arranged on the terrace of field of employment movably, first motor (12) cooperates with first reduction box (13) transmission, and be fixed in the pedestal chamber (111) of pedestal (11) together with first motor (12) by first reduction box (13), the first reduction box final stage power output shaft (131) of this first reduction box (13) leans out the top surface of pedestal (11), first gear (14) is fixed on the first reduction box final stage power output shaft (131), a pair of horizontal guide rail (15) is separately fixed at the both sides of length direction of the top surface of described pedestal (11) each other with parallel state, described frame (2) is in transmission connection with described first gear (14), and be slidingly matched with described a pair of horizontal guide rail (15), the vertical travel mechanism of described pivoted arm (3) is positioned at the below of frame (2), described pivoted arm transverse moving mechanism (4) is positioned at the top of the vertical travel mechanism of pivoted arm (3), described big whirling arm mechanism (5) is positioned between described little whirling arm mechanism (6) and the frame (2), and described workpiece extraction mechanism (7) is fixed on the little whirling arm mechanism (6) with the horizontal boom state.
3. multi-joint manipulator according to claim 2, it is characterized in that one tooth bar (21) being arranged in the bottom of described frame (2) and in fixed-site corresponding to described first gear (14), this tooth bar (21) is meshed with first gear (14), and the both sides in the bottom of frame (2) respectively are fixed with pair of guide rails slide block (22), wherein: be arranged in the pair of guide rails slide block (22) of a side and a wherein horizontal guide rail (15) of described a pair of horizontal guide rail (15) and be slidingly matched, and another root horizontal guide rail (15) of the pair of guide rails slide block (22) that is arranged in opposite side and a pair of horizontal guide rail (15) is slidingly matched, be fixed with a pair of longitudinal rail (23) towards the top of a side of described big whirling arm mechanism (5) with vertically parallel state in frame (2), described pivoted arm transverse moving mechanism (4) is slidingly matched with this a pair of longitudinal rail (23), and it is corresponding with the sliding window (24) on the top that is opened in frame (2), the vertical travel mechanism of described pivoted arm (3) is corresponding to the below of sliding window (24), be fixed with a big pivoted arm lifter rack (8) on the described big whirling arm mechanism (5), this big pivoted arm lifter rack (8) cooperates with the vertical travel mechanism of pivoted arm (3) transmission, described workpiece extraction mechanism (7) comprises suction cup carrier (71) and one group of sucker (72), one end of suction cup carrier (71) and described little whirling arm mechanism (6) are fixing, and one group of sucker (72) is fixed on the other end of suction cup carrier (7).
4. multi-joint manipulator according to claim 3, it is characterized in that the vertical mobile device of described pivoted arm (3) comprises second motor (31), second reduction box (32), reduction box axle bed (33), second gear (34) and tooth bar limited roller (35), second motor (31) cooperates with second reduction box (32) transmission, and be fixed on the side of described frame (2) together with second motor (31) back to described big whirling arm mechanism (5) by second reduction box (32), reduction box axle bed (33) is fixed on the side of frame (2) towards big whirling arm mechanism (5), and below corresponding to described sliding window (24), the second reduction box final stage power output shaft (321) of second reduction box (32) passes frame (2) and is bearing in rotationally on the reduction box axle bed (33), second gear (34) is fixed on the second reduction box final stage power output shaft (321), tooth bar limited roller (35) is arranged on the frame (2) rotationally, and a side corresponding to second gear (34), described big pivoted arm lifter rack (8) is positioned between roller (35) and second gear (34) and with second gear (34) and is meshed, tooth bar limited roller (35) and the side contacts of big pivoted arm lifter rack (8) back to second gear (34).
5. multi-joint manipulator according to claim 3, it is characterized in that described pivoted arm transverse moving mechanism (4) comprises the 3rd motor (41), the 3rd reduction box (42), reduction box fixed connecting base (43), vertical slide unit (44) and slide unit axle bed (45), the 3rd motor (41) cooperates with the 3rd reduction box (42) transmission, and by the 3rd reduction box (42) together with the 3rd motor (41) corresponding to the fixed-site of described sliding window (24) on reduction box fixed connecting base (43), reduction box fixed connecting base (43) is positioned at the side of described frame (2) towards described big whirling arm mechanism (5), vertically slide unit (44) is fixing with reduction box fixed connecting base (43), and be slidingly matched with described a pair of longitudinal rail (23), slide unit axle bed (45) is fixed on the side of vertical slide unit (44) towards described big whirling arm mechanism (5), and be connected with big whirling arm mechanism (5), and big whirling arm mechanism (5) is nested with on the 3rd reduction box final stage power output shaft (421) of the 3rd reduction box (42), described end in described suction cup carrier (7) is equipped with one group of suction cup carrier hold-down screw (711), this group suction cup carrier hold-down screw (711) is fixedlyed connected with described little whirling arm mechanism (6), and the described other end of suction cup carrier (7) offers sucker position adjustment groove (712), and described one group of sucker (72) is fixing in position and the suction cup carrier (71) of adjusting groove (712) corresponding to the sucker position.
6. multi-joint manipulator according to claim 5, it is characterized in that described big whirling arm mechanism (5) comprises a pair of ring flange (51), big synchronous pulley (52), the first location synchronous pulley (53), location synchronous pulley axle (54), small synchronous pulley (55), the second location synchronous pulley (56), first, second is with (57a synchronously, 537b) with big pivoted arm (58), a pair of ring flange (51) is fixed on described the 3rd reduction box final stage power output shaft (421) with facing each other, the first location synchronous pulley (53) is fixing with big synchronous pulley (52), be enclosed within on the 3rd reduction box final stage power output shaft (421) together with first location synchronous pulley (53) sky by big synchronous pulley (52), and be positioned between the described a pair of ring flange (51), location synchronous pulley axle (54) is bearing in the upper end of big pivoted arm (58) rotationally, and on this location synchronous pulley axle (54), be arranged with an axle sleeve (541), small synchronous pulley (55) is fixed on the axle sleeve (541), the second location synchronous pulley (56) is fixed on the location synchronous pulley axle (54), first is with an end of (57a) to be nested with on big synchronous pulley (52) synchronously, the other end is nested with on small synchronous pulley (55), second is with an end of (57b) to be nested with on the first location synchronous pulley (53) synchronously, the other end is nested with on the second location synchronous pulley (56), the lower end of big pivoted arm (58) and a pair of ring flange (51) are fixing, wherein, big synchronous pulley (52) is fixing by big synchronous pulley holder (521) and described slide unit axle bed (45), described the 3rd reduction box final stage power output shaft (421) is bearing on the described slide unit axle bed (45) rotationally, described little whirling arm mechanism (6) is fixedlyed connected with described location synchronous pulley axle (54) with cantilever position, and described one group of sucker (72) of fixing with suction cup carrier (71) is connected with the depression generator negative pressure line by pipeline.
7. multi-joint manipulator according to claim 6, it is characterized in that described little whirling arm mechanism (6) comprises little pivoted arm (61), the 3rd, the 4th location synchronous pulley (62,63), suction cup carrier axle (64) and the 3rd is with (65) synchronously, fixedly connected with described axle sleeve (541) in the upper end of little pivoted arm (61), the 3rd location synchronous pulley (62) is fixed on the described location synchronous pulley axle (54), suction cup carrier axle (64) is arranged on the lower end of little pivoted arm (61) rotationally, and this suction cup carrier axle (64) leans out little pivoted arm (61) towards an end of described suction cup carrier (71), the 3rd location synchronous pulley (62) is fixed on the location synchronous pulley axle (54), the 4th location synchronous pulley (63) is fixed on the suction cup carrier axle (64), the 3rd is with an end of (65) to be nested with on the 3rd location synchronous pulley (62) synchronously, the other end is nested with on the 4th location synchronous pulley (63), and the described suction cup carrier (71) of described workpiece extraction mechanism (7) is fixing with suction cup carrier axle (64).
8. multi-joint manipulator according to claim 4 is characterized in that constituting a tooth bar position-limit foot (81) in the bottom of described big pivoted arm lifter rack (8), and this tooth bar position-limit foot (81) is corresponding to the below of described tooth bar limited roller (35).
9. multi-joint manipulator according to claim 6, it is characterized in that described big pivoted arm (58) is provided with one first synchronous belt tension device (581) and one second synchronous belt tension device (582), the first synchronous belt tension device (581) and described first is with (57a) to match synchronously, and the second synchronous belt tension device (582) and second band (57b) synchronously matches.
10. multi-joint manipulator according to claim 6, it is characterized in that upward being provided with a guard shield (542) with airborne at described location synchronous pulley axle (54), this guard shield (542) is corresponding to the top of described big pivoted arm (58) and described little whirling arm mechanism (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320069262 CN203092556U (en) | 2013-02-06 | 2013-02-06 | Multi-joint mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320069262 CN203092556U (en) | 2013-02-06 | 2013-02-06 | Multi-joint mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203092556U true CN203092556U (en) | 2013-07-31 |
Family
ID=48843996
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320069262 Withdrawn - After Issue CN203092556U (en) | 2013-02-06 | 2013-02-06 | Multi-joint mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203092556U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103112003A (en) * | 2013-02-06 | 2013-05-22 | 创美工艺(常熟)有限公司 | Multi-joint mechanical arm |
| CN105150213A (en) * | 2015-08-03 | 2015-12-16 | 吉林大学 | Multifunctional clamping mechanical hand |
| CN117021057A (en) * | 2023-10-07 | 2023-11-10 | 苏州云雀机器人科技有限公司 | Double-arm multidirectional suction moving device |
-
2013
- 2013-02-06 CN CN 201320069262 patent/CN203092556U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103112003A (en) * | 2013-02-06 | 2013-05-22 | 创美工艺(常熟)有限公司 | Multi-joint mechanical arm |
| CN105150213A (en) * | 2015-08-03 | 2015-12-16 | 吉林大学 | Multifunctional clamping mechanical hand |
| CN117021057A (en) * | 2023-10-07 | 2023-11-10 | 苏州云雀机器人科技有限公司 | Double-arm multidirectional suction moving device |
| CN117021057B (en) * | 2023-10-07 | 2024-01-26 | 苏州云雀机器人科技有限公司 | Double-arm multidirectional suction moving device |
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