CN203269069U - Mechanical arm used for transferring container filled with liquid - Google Patents
Mechanical arm used for transferring container filled with liquid Download PDFInfo
- Publication number
- CN203269069U CN203269069U CN 201320199369 CN201320199369U CN203269069U CN 203269069 U CN203269069 U CN 203269069U CN 201320199369 CN201320199369 CN 201320199369 CN 201320199369 U CN201320199369 U CN 201320199369U CN 203269069 U CN203269069 U CN 203269069U
- Authority
- CN
- China
- Prior art keywords
- gear
- worm
- motor
- arm
- joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a mechanical arm used for transferring a container filled with liquid. The mechanical arm used for transferring a container filled with liquid comprises a double-faced rack and palms on the two sides of the double-faced rack, wherein the palms are connected with the double-faced rack through hand gear shafts, the double-faced rack is connected with a cylinder on a cylinder base plate, small arms are arranged on the two sides of the cylinder base plate, the small arms are connected with a medium arm through a wrist joint, a driving device a is arranged on the medium arm, the medium arm is connected with a big arm through an elbow joint, a driving device b is arranged on the elbow joint, the big arm is connected with a waist through a shoulder joint, a driving device c is arranged on the shoulder joint, the waist is connected with an output shaft of a speed reducer through a waist joint, a thrust bearing arranged on the output shaft in a sleeved mode is inlaid in a machine base upper panel, a machine base lower panel is arranged below the machine base upper panel, and a motor is arranged on the machine base lower panel and is connected with the speed reducer. According to the mechanical arm used for transferring the container filled with liquid, a machine base, the waist, the big arm, the medium arm and the small arms are driven through the motor, the palms are controlled to open and close through the cylinder, therefore, the container filled with liquid can be clamped and taken accurately and transferred stably, and the problem that an existing mechanical arm can not transfer the container filled with fluid smoothly is solved.
Description
Technical field
The utility model relates to the mechanical automation technical field, relates to a kind of manipulator that fills liquid container for handover.
Background technology
For a long time, populous due to China, the price of labour power is cheap, production technology level is relatively backward again, the application of industry mechanical arm is greatly limited.But along with the continuous reduction of industry mechanical arm price and improving constantly of performance, labor cost constantly rises, and replaces manual operation extremely urgent with manipulator on manufacturing line.At present, the functions such as industry mechanical arm is mainly used in spot welding, arc-welding, sprays paint, assembling, replace manual operation with manipulator on manufacturing line, not only reduce hand labor intensity, improved work efficiency, saved cost, also realized the automation mechanized operation of manufacturing line, but existing manipulator is when transporting the container that fills liquid, usually because action is not steady, causes the unrestrained of liquid.
The utility model content
The purpose of this utility model is to provide a kind of manipulator that fills liquid container for handover, can not pulsation-free transfers the problem of the container that fills liquid to solve the existing machinery hand.
the technical scheme that the utility model adopts is, the two-sided rack that comprises vertical setting, the bilateral symmetry of the two-sided rack is provided with palm, one end of each palm is fixedly connected with the hand gear wheel shaft, each palm is all to be connected with the two-sided rack by the hand gear wheel shaft, each hand gear wheel shaft all meshes with the two-sided rack, one end of two hand gear wheel shaft homonymies is all captiveed joint with the bearing plate that vertically arranges by bearing, described the two-sided rack is connected with cylinder on being fixedly installed on the cylinder seat board away from an end of palm, the cylinder block plate level arranges, the both sides of cylinder seat board are fixedly connected with the little arm of vertical setting, be connected with an end of middle arm by wrist joint between two little arms, be provided with actuating device a near the wrist position place on middle arm, the other end of middle arm is fixedly connected with elbow joint, elbow joint comprises worm gear and the worm screw of one group of engagement, the worm screw of elbow joint is provided with actuating device b, middle arm is connected with an end of large arm by the worm gear of elbow joint, the other end of large arm is fixedly connected with shoulder joint, shoulder joint is also wrapped worm gear and the worm screw of one group of engagement, the worm screw of shoulder joint is provided with actuating device c, large arm is connected with the vertical edge of L shaped waist by the worm gear of shoulder joint, the horizontal sides of waist is connected with the output shaft of worm-gear speed reducer by waist joint away from a side of large arm, the output sleeve of worm-gear speed reducer has horizontally disposed thrust bearing, thrust bearing is embedded in horizontally disposed support top panel, one side of the close worm-gear speed reducer of support top panel is connected with horizontally disposed support lower faceplate by four support screws of vertical setting, the support lower faceplate is provided with motor, motor is connected with worm-gear speed reducer by pulley mechanism.
Characteristics of the present utility model also are,
Actuating device a, comprise the gear on worm a that is arranged on middle arm outer wall, gear on worm a is connected with wrist joint by the worm and gear of one group of engagement, is provided with the motor gear a with its engagement by gear on worm a, the side of motor gear a is connected with motor a, and motor a is arranged in middle arm.
Actuating device b, comprise the gear transmission box, be provided with gear on worm b and motor gear b in the gear transmission box, gear on worm b and motor gear b engagement, gear on worm b is connected with the worm screw of elbow joint, motor gear b is connected with the motor b that is arranged on the gear transmission box outside, and described actuating device c is identical with the structure of actuating device b.
Pulley mechanism comprises the reductor belt wheel that is arranged on worm-gear speed reducer one end, and the reductor belt wheel is connected with the electrical machine belt pulley that is arranged on motor one side by cog belt.
the beneficial effects of the utility model are, pass through waist, shoulder, elbow, four joints of wrist are support, waist, large arm, middle arm, little arm couples together, making this manipulator is the joint type manipulator of a four-degree-of-freedom, motor-driven is passed through in each joint, come the waist of driving mechanical hand with this, large arm, middle arm, the rotation of little arm, below little arm, palm is installed, control the opening and closing of palm by cylinder, and can guarantee the vertical position of little arm, make gripping accurate, transfer stable, motion fast, solve the existing machinery hand and can not pulsation-free have transferred the problem of the container that fills liquid.
Description of drawings:
Fig. 1 is a kind of structural representation that fills the manipulator of liquid container for handover of the utility model;
Fig. 2 is the structural representation of the palm drive part of a kind of manipulator that fills liquid container for handover of the utility model;
Fig. 3 is the structural representation of the wrist joint drive part of a kind of manipulator that fills liquid container for handover of the utility model;
Fig. 4 is the structural representation of the elbow joint drive part of a kind of manipulator that fills liquid container for handover of the utility model.
in figure, 1. palm, 2. hand gear wheel shaft, 3. bearing plate, 4. the two-sided rack, 5. cylinder seat board, 6. little arm, 7. cylinder, 8. wrist joint, 9. gear on worm a, 10. motor gear a, 11. middle arm, 12. motor b, 13. elbow joint, 14. large arm, 15. gear transmission box, 17. shoulder joint, 18. waist, 19. waist joint, 20. support top panel, 21. worm-gear speed reducer, 22. reductor belt wheel, 23. support screw, 24. cog belt, 25. motor, 26. electrical machine belt pulley, 27. support lower faceplate, 28. motor a, 29. gear on worm b, 30. motor gear b.
The specific embodiment
The present invention is described in detail below in conjunction with the drawings and specific embodiments.
the utility model provides a kind of manipulator that fills liquid container for handover, its structure is referring to Fig. 1, the two-sided rack 4 that comprises vertical setting, the bilateral symmetry of the two-sided rack 4 is provided with palm 1, one end of each palm 1 is fixedly connected with hand gear wheel shaft 2, each palm 1 is all to be connected with the two-sided rack 4 by hand gear wheel shaft 2, each hand gear wheel shaft 2 all meshes with the two-sided rack 4, one end of two hand gear wheel shaft 2 homonymies is all captiveed joint with the bearing plate 3 that vertically arranges by bearing, described the two-sided rack 4 is connected with cylinder 7 on being fixedly installed on cylinder seat board 5 away from an end of palm 1, cylinder seat board 5 is horizontally disposed with, the both sides of cylinder seat board 5 are fixedly connected with the little arm 6 of vertical setting, be connected with an end of middle arm 11 by wrist joint 8 between two little arms 6, on middle arm 11, close wrist joint 8 positions are provided with actuating device a, the other end of middle arm 11 is fixedly connected with elbow joint 13, elbow joint 13 comprises worm gear and the worm screw of one group of engagement, the worm screw of elbow joint (13) is provided with actuating device b, middle arm 11 is connected with an end of large arm 14 by the worm gear of elbow joint 13, the other end of large arm 14 is fixedly connected with shoulder joint 17, shoulder joint 17 is also wrapped worm gear and the worm screw of one group of engagement, the worm screw of shoulder joint 17 is provided with actuating device c, large arm 14 is connected with the vertical edge of L shaped waist 18 by the worm gear of shoulder joint 17, the horizontal sides of waist 18 is connected with the output shaft of worm-gear speed reducer 21 by waist joint 19 away from a side of large arm 14, the output sleeve of worm-gear speed reducer 21 has horizontally disposed thrust bearing, thrust bearing is embedded in horizontally disposed support top panel 20, one side of support top panel 20 close worm-gear speed reducers 21 is connected with horizontally disposed support lower faceplate 27 by four support screws 23 of vertical setting, support lower faceplate 27 is provided with motor 25, motor 25 is connected with worm-gear speed reducer 21 by pulley mechanism.
Wherein, actuating device a, comprise the gear on worm a9 that is arranged on middle arm 11 outer walls, gear on worm a9 is connected with wrist joint 8 by the worm and gear of one group of engagement, gear on worm a9 side is provided with the motor gear a10 with its engagement, the side of motor gear a10 is connected with motor a28, and motor a28 is arranged in middle arm 11.
Actuating device b, comprise gear transmission box 15, be provided with gear on worm b29 and motor gear b30 in gear transmission box 15, gear on worm b29 and motor gear b30 engagement, gear on worm b29 is connected with the worm screw of elbow joint 13, motor gear b30 is connected with the motor b12 that is arranged on gear transmission box 15 outsides, and described actuating device c is identical with the structure of actuating device b.
Pulley mechanism comprises the reductor belt wheel 22 that is arranged on worm-gear speed reducer 21 1 ends, and reductor belt wheel 22 is connected with the electrical machine belt pulley 26 that is arranged on motor 25 1 sides by cog belt 24.
During work, motor 25 drives worm-gear speed reducer 21 by the band transmission, makes its output shaft rotation, and output shaft drives waist joint 19 by the key transmission and rotates, thereby waist 18 is rotated, so that palm 1 arrives the place at container place; In shoulder joint 17 and elbow joint 13, the motor b12 of drive installation on gear transmission box 15 separately respectively, by the transmission of motor gear b30 and gear on worm b19, thereby drive shoulder joint 17 and elbow joint 13 rotations, make large arm 14 and middle arm 11 correct position that rotatablely moves; In wrist joint 8, motor a28 drive motor gear 10 by the transmission of gear on worm 9, drives wrist joint 8 and rotates, thereby makes the little arm 6 vertical position that rotatablely moves; Cylinder 7 is by the air-breathing the two-sided rack 4 of straining, and hand gear wheel shaft 2 rotates along with the tension of the two-sided rack 4, thereby palm 1 closure on hand gear wheel shaft 2 is completed the action that gripping fills liquid container.
The little arm 6 of manipulator, middle arm 11, large arm 14 teamworks are to the fixed position, when gripping after filling the container of liquid, guarantees little arm 6 all the time straight down, thereby in the assurance motion process, liquid can not spill; Then by the rotation of waist joint 19, the container that fills liquid is transplanted on the appointed place, last, control cylinder 7 is given vent to anger, thereby promotes the two-sided rack 4, and hand gear wheel shaft 2 rotates along with the promotion of the two-sided rack 4, palm 1 opens thereupon, has so just put down the container that fills liquid.
a kind of manipulator that fills liquid container for handover of the present utility model, pass through waist, shoulder, elbow, four joints of wrist are support, waist 18, large arm 14, middle arm 11, little arm 6 couples together, making this manipulator is the joint type manipulator of a four-degree-of-freedom, each joint drives by corresponding motor, come the waist 18 of driving mechanical hand with this, large arm 14, middle arm 11, the rotation of little arm 6, below little arm 6, palm 1 is installed, control the opening and closing of palm 1 by cylinder 7, and guarantee the vertical position of little arm 6, make gripping accurate, transfer stable, motion fast, solve the existing machinery hand and can not pulsation-free have transferred the problem of the container that fills liquid.
Claims (5)
1. one kind is used for transferring the manipulator that fills liquid container, it is characterized in that, the two-sided rack (4) that comprises vertical setting, the bilateral symmetry of the two-sided rack (4) is provided with palm (1), one end of each palm (1) is fixedly connected with hand gear wheel shaft (2), each palm (1) is all to be connected with the two-sided rack (4) by hand gear wheel shaft (2), each hand gear wheel shaft (2) all meshes with the two-sided rack (4), one end of two hand gear wheel shafts (2) homonymy is all captiveed joint with the bearing plate (3) that vertically arranges by bearing, described the two-sided rack (4) is connected with cylinder (7) on being fixedly installed on cylinder seat board (5) away from an end of palm (1), cylinder seat board (5) is horizontally disposed with, the both sides of cylinder seat board (5) are fixedly connected with the little arm (6) of vertical setting, be connected with an end of middle arm (11) by wrist joint (8) between two little arms (6), the upper close wrist joint (8) of middle arm (11) position is provided with actuating device a, the other end of middle arm (11) is fixedly connected with elbow joint (13), elbow joint (13) comprises worm gear and the worm screw of one group of engagement, the worm screw of elbow joint (13) is provided with actuating device b, middle arm (11) is connected with an end of large arm (14) by the worm gear of elbow joint (13), the other end of large arm (14) is fixedly connected with shoulder joint (17), what shoulder joint (17) was also wrapped one group of engagement draws together worm gear and worm screw, the worm screw of shoulder joint (17) is provided with actuating device c, large arm (14) is connected with the vertical edge of L shaped waist (18) by the worm gear of shoulder joint (17), the horizontal sides of waist (18) is connected with the output shaft of worm-gear speed reducer (21) by waist joint (19) away from a side of large arm (14), the output sleeve of worm-gear speed reducer (21) has horizontally disposed thrust bearing, thrust bearing is embedded in horizontally disposed support top panel (20), support top panel (20) is connected with horizontally disposed support lower faceplate (27) near a side of worm-gear speed reducer (21) by four support screws (23) that vertically arrange, support lower faceplate (27) is provided with motor (25), motor (25) is connected with worm-gear speed reducer (21) by pulley mechanism.
2. a kind of manipulator that fills liquid container for handover as claimed in claim 1, it is characterized in that, described actuating device a, comprise the gear on worm a(9 that is arranged on middle arm (11) outer wall), gear on worm a(9) worm and gear by one group of engagement is connected with wrist joint (8), gear on worm a(9) be provided with the motor gear a(10 with its engagement by), motor gear a(10) be arranged on the outer wall of arm (11), motor gear a(10) a side is connected with motor a(28), motor a(28) be arranged in middle arm (11).
3. a kind of manipulator that fills liquid container for handover as claimed in claim 1 or 2, it is characterized in that, described actuating device b, comprise gear transmission box (15), the gear transmission box is provided with gear on worm b(29 in (15)) and motor gear b(30), gear on worm b(29) with motor gear b(30) engagement, gear on worm b(29) worm screw with elbow joint (13) is connected, motor gear b(30) with the motor b(12 that is arranged on gear transmission box (15) outside) be connected, described actuating device c is identical with the structure of actuating device b.
4. a kind of manipulator that fills liquid container for handover as claimed in claim 1 or 2, it is characterized in that, described pulley mechanism comprises the reductor belt wheel (22) that is arranged on worm-gear speed reducer (21) one ends, and reductor belt wheel (22) is connected with the electrical machine belt pulley that is arranged on motor (25) one sides (26) by cog belt (24).
5. a kind of manipulator that fills liquid container for handover as claimed in claim 3, it is characterized in that, described pulley mechanism comprises the reductor belt wheel (22) that is arranged on worm-gear speed reducer (21) one ends, and reductor belt wheel (22) is connected with the electrical machine belt pulley that is arranged on motor (25) one sides (26) by cog belt (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320199369 CN203269069U (en) | 2013-04-18 | 2013-04-18 | Mechanical arm used for transferring container filled with liquid |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320199369 CN203269069U (en) | 2013-04-18 | 2013-04-18 | Mechanical arm used for transferring container filled with liquid |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203269069U true CN203269069U (en) | 2013-11-06 |
Family
ID=49499523
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320199369 Expired - Fee Related CN203269069U (en) | 2013-04-18 | 2013-04-18 | Mechanical arm used for transferring container filled with liquid |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203269069U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104227730A (en) * | 2014-09-09 | 2014-12-24 | 青岛宝佳自动化设备有限公司 | Mechanical gripper for material feeding of material mixer |
| CN105215985A (en) * | 2015-08-26 | 2016-01-06 | 张志杰 | Liquid food packaging machine robot device |
| CN105965471A (en) * | 2016-07-18 | 2016-09-28 | 佛山市联智新创科技有限公司 | Six-axis universal robot with lifting rollers |
| CN106041909A (en) * | 2016-07-18 | 2016-10-26 | 佛山市联智新创科技有限公司 | Six-axis universal robot with mechanical paws arranged on small arms |
| CN106113093A (en) * | 2016-08-26 | 2016-11-16 | 重庆华数机器人有限公司 | A kind of robot belt tension measures aid |
| CN107640660A (en) * | 2017-11-01 | 2018-01-30 | 深圳市沃尔核材股份有限公司 | A kind of retractable well cabinet frame roller (guide) apron |
| CN108483893A (en) * | 2018-05-18 | 2018-09-04 | 承德汇彩玻璃器皿有限公司 | A kind of laser cracking-off machine |
-
2013
- 2013-04-18 CN CN 201320199369 patent/CN203269069U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104227730A (en) * | 2014-09-09 | 2014-12-24 | 青岛宝佳自动化设备有限公司 | Mechanical gripper for material feeding of material mixer |
| CN104227730B (en) * | 2014-09-09 | 2016-03-30 | 青岛宝佳自动化设备有限公司 | A kind of mechanical gripper fed intake for batch mixer |
| CN105215985A (en) * | 2015-08-26 | 2016-01-06 | 张志杰 | Liquid food packaging machine robot device |
| CN105965471A (en) * | 2016-07-18 | 2016-09-28 | 佛山市联智新创科技有限公司 | Six-axis universal robot with lifting rollers |
| CN106041909A (en) * | 2016-07-18 | 2016-10-26 | 佛山市联智新创科技有限公司 | Six-axis universal robot with mechanical paws arranged on small arms |
| CN105965471B (en) * | 2016-07-18 | 2018-02-02 | 深圳市双越实业发展有限公司 | A kind of six axle all-purpose robots for being provided with lifting roller |
| CN106113093A (en) * | 2016-08-26 | 2016-11-16 | 重庆华数机器人有限公司 | A kind of robot belt tension measures aid |
| CN107640660A (en) * | 2017-11-01 | 2018-01-30 | 深圳市沃尔核材股份有限公司 | A kind of retractable well cabinet frame roller (guide) apron |
| CN107640660B (en) * | 2017-11-01 | 2023-09-12 | 深圳市沃尔核材股份有限公司 | Openable and closable guide roller device for well frame |
| CN108483893A (en) * | 2018-05-18 | 2018-09-04 | 承德汇彩玻璃器皿有限公司 | A kind of laser cracking-off machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203269069U (en) | Mechanical arm used for transferring container filled with liquid | |
| CN205254990U (en) | Cargo handling robotic arm | |
| CN204414100U (en) | Liquid crystal panel vanning four axle arm modules | |
| CN204136050U (en) | A kind of six-joint robot | |
| CN202965252U (en) | Mechanically controlled full-automatic compaction forming equipment | |
| CN208543485U (en) | A kind of 4 axis multi-joint robotic arms | |
| CN104400781A (en) | Material feeding manipulator | |
| CN206230511U (en) | A kind of rail mounted manipulator | |
| CN201990128U (en) | Groove with flip device | |
| CN205290938U (en) | High efficiency robot | |
| CN205600258U (en) | Automatic screw locking machine | |
| CN206677950U (en) | A kind of truss manipulator | |
| CN105679172A (en) | Teaching robot | |
| CN211846022U (en) | Industrial automation transfer apparatus | |
| CN211275241U (en) | Glue injection machine | |
| CN210825373U (en) | Full-automatic filling machine | |
| CN209268498U (en) | A kind of intelligent robot on Production of Moon Cake line | |
| CN208878332U (en) | It is a kind of environmental protection tubing production use raw material blending device | |
| CN202229835U (en) | Cleaning device for inner wall of scale bucket | |
| CN201990251U (en) | Discharging device | |
| CN205109538U (en) | Two -way rotary flip emulsifying tank | |
| CN213387741U (en) | Bottled equipment of chilli sauce production usefulness | |
| CN206362579U (en) | A kind of glue making machine glue sampler | |
| CN219238515U (en) | Two-side feeding mechanism | |
| CN203829938U (en) | Blender |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20160809 Address after: 312030, Zhejiang, Shaoxing Keqiao District Hua Hua Street Xinghua Road after 1 yuan 3 Building Patentee after: SHAOXING RUIQUN TEXTILE MACHINERY TECHNOLOGY CO., LTD. Address before: 710048 Shaanxi city of Xi'an Province Jinhua Road No. 5 Patentee before: Xi'an University of Technology |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131106 Termination date: 20170418 |