CN203527121U - Mechanical hand structure - Google Patents

Mechanical hand structure Download PDF

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Publication number
CN203527121U
CN203527121U CN201320502898.3U CN201320502898U CN203527121U CN 203527121 U CN203527121 U CN 203527121U CN 201320502898 U CN201320502898 U CN 201320502898U CN 203527121 U CN203527121 U CN 203527121U
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CN
China
Prior art keywords
cylinder
support
pedestal
workpiece
guide rail
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Expired - Fee Related
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CN201320502898.3U
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Chinese (zh)
Inventor
孟秋华
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孟秋华
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Priority to CN201320502898.3U priority Critical patent/CN203527121U/en
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Publication of CN203527121U publication Critical patent/CN203527121U/en
Expired - Fee Related legal-status Critical Current
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Abstract

The utility model relates to a mechanical hand structure which comprises a support, a guide rail arranged on the support, and a charging tray assembly used for containing workpieces to be machined. A base which can slide along the guide rail is arranged on the guide rail. Finger assemblies used for grabbing the workpieces are arranged on the base. The mechanical hand structure is characterized in that the number of the finger assemblies is two, the first finger assembly is used for grabbing the workpieces to be machined, the second finger assembly is used for grabbing the machined workpieces, the finger assemblies are arranged on the base through a rotating mechanism, the base is connected with the guide rail through a first sliding block, a first air cylinder and a second air cylinder which are used for driving the base to move along the guide rail are arranged on the support, a beam is provided with three positioning assemblies, a third air cylinder is arranged on the base, and a piston rod of the third air cylinder is connected with the rotating mechanism and drives the rotating mechanism to rotate within the range of 90 degrees. Compared with the prior art, the mechanical hand structure is accurate in movement, stable in working, high in working efficiency, low in manufacturing cost and capable of being matched with the workpieces of various sizes.

Description

A kind of robot manipulator structure
Technical field
The utility model relates to a kind of robot manipulator structure.
Background technology
The metal-working plants such as existing Digit Control Machine Tool, automatic lathe, instrument automatic lathe, although realized the automation processing of workpiece, but the crawl of workpiece, placement etc. must workman manual operations, so in fact the overall process of workpiece processing belongs to semiautomation operation.People have studied various manipulators and have replaced manual operation part for this reason.
As the publication number disclosed < < of the Chinese invention patent application electric grasping manipulator > > that is CN102019616A, it comprises the first direction of principal axis travel mechanism, the second direction of principal axis travel mechanism, San direction of principal axis travel mechanism and a manipulator part, this manipulator part comprises finger motor, upper finger, lower finger, leading screw and nut, finger motor and leading screw are fixedly connected on lower finger, upper finger is connected with nut, the first direction of principal axis travel mechanism comprises the first spindle motor, the first axis rail, the first axle Timing Belt and the first axle Timing Belt briquetting, the first spindle motor moves back and forth along the first axis rail by the first axle Timing Belt and the first axle Timing Belt briquetting driving device hand unit, the second direction of principal axis travel mechanism comprises the second spindle motor, the second axis rail, the second axle Timing Belt and the synchronous briquetting of the second axle, the second spindle motor moves back and forth along the second axis rail by the second axle Timing Belt and the synchronous briquetting driving device of the second axle hand unit, San direction of principal axis travel mechanism comprises the 3rd spindle motor, the 3rd axis rail, the 3rd axle Timing Belt and the 3rd axle Timing Belt briquetting driving device hand unit move back and forth along the 3rd axis rail.
Manipulator in this patent application can be located the arbitrfary point on the direct coordinate of plane.But can not in three-dimensional space, locate.
Granted publication number discloses a kind of < < manipulator > > for the Chinese invention patent of CN102189575B, it comprises linking arm, finger assembly and the second driving mechanism that drives finger assembly to do the first driving mechanism of straight reciprocating motion and drive finger assembly to move in a circle in horizontal plane in horizontal plane, wherein, the first end of described linking arm connects described finger assembly, the second end of described linking arm connects described the first driving mechanism and the second driving mechanism, it is characterized in that this manipulator also comprises the 3rd driving mechanism that drives described linking arm to rotate at vertical guide, the 3rd driving mechanism comprises the 3rd motor, the 3rd worm screw being connected with the output shaft of the 3rd motor, the 3rd worm gear and rotating base, the 3rd worm gear connects rotating base by shaft coupling, and, the 3rd described motor, the 3rd worm screw and the 3rd worm gear are arranged in the 3rd housing, described rotating base is arranged on the sidewall of the 3rd housing and is connected with the second end of described linking arm,
The first described driving mechanism comprises and is arranged on the lip-deep base of lathe, slide block, the first motor and the first screw mandrel, wherein, described slide block can be slidably arranged on described base, one end of described the first screw mandrel connects the output shaft of described the first motor, the other end of the first screw mandrel is connected with described base, the first nut sleeve is located on the first screw mandrel, and, this first nut and described slide block interlock;
The second described driving mechanism is arranged on described slide block, this second driving mechanism comprises the second motor, the second worm screw, the second worm gear and the second rotating disk that are connected with the output shaft of the second motor, and the second described rotating disk is connected with the second described worm gear by shaft coupling;
The second described rotating disk is provided with support, and one end of described linking arm connects one end of this support; On the other end of support, be also provided with first micro-adjusting mechanism that can change linking arm position in the direction perpendicular to linking arm, this first micro-adjusting mechanism comprises the first fine setting motor, the first fine setting screw mandrel being connected with output shaft of this first fine setting motor, this first fine setting screw mandrel and described the 3rd housing interlock.
This manipulator can be in three dimensions three-dimensional positioning action, automaticity is high, and applicability is wide.But this robot manipulator structure is slow in one's movements, efficiency is low; Take up room large, manufacturing cost is high.
Summary of the invention
Technical problem to be solved in the utility model is that the present situation for prior art provides that a kind of structure is more succinct, compactness and grasping movement more accurately and the high manipulator mechanism of operating efficiency.
The utility model solves the problems of the technologies described above adopted technical scheme: this robot manipulator structure, comprises support, is arranged on guide rail on described support and for placing the charging tray assembly of workpiece to be processed; Described guide rail is provided with the pedestal that can slide along guide rail, and described pedestal is provided with the finger assembly for grabbing workpiece; It is characterized in that:
Described finger assembly has two covers, and wherein first set finger assembly is used for capturing unprocessed workpiece, and the second cover finger assembly is used for capturing the rear workpiece of processing; Described finger assembly is arranged on described pedestal by rotating mechanism, and described pedestal connects described guide rail by the first slide block, and described support is provided with the first cylinder for driving described pedestal to move along described guide rail;
On described support, be also provided with the second cylinder for driving described pedestal to slide along described guide rail;
The piston rod of described the first cylinder and described the second cylinder is all connected to described pedestal; Described the second cylinder connects described guide rail by the second slide block;
On described crossbeam, also the position corresponding to described finger assembly crawl workpiece to be processed is provided with the first positioning component; Position corresponding to from described finger assembly to the feeding of lathe station is provided with the second positioning component on described crossbeam; The feeding position that captures the workpiece processing corresponding to described finger assembly is provided with the 3rd positioning component on described crossbeam;
The first positioning component, the second positioning component are identical with the structure of the 3rd positioning component, include the positioning cylinder being arranged on described crossbeam, pedestal described in the piston rod subtend of described positioning cylinder, described pedestal is provided with the locating slot for the piston rod of accommodating positioning cylinder;
Described pedestal is provided with the 3rd cylinder, and the piston rod of described the 3rd cylinder drives the described rotating mechanism of connection to rotate within the scope of 90 °.
Described finger assembly comprises housing and two clamping plates at least, described in each, clamping plate are located on the first end face of housing evenly and at intervals, described in each, clamping plate partly expose to housing for holding workpiece, and described in each, the other part of clamping plate is positioned at housing and by contiguous block, connects the first drive link that is arranged on housing; Described the first drive link with contiguous block for being fixedly connected with, be articulated and connected one end of the second drive link of described the first drive link, the other end of the second drive link is articulated and connected in transfer block, transfer block is connected on the piston rod of finger cylinder.
Described housing is arranged on shockproof assembly; Described shockproof assembly comprises spring base and be arranged on the spring in spring base, and the upper end buckle closure of spring has upper shield, and upper shield is slidably located in spring base; Spring base is fixed on substrate; Finger cylinder is fixed on air cylinder base, and air cylinder base is set in outside spring base, and upper shield is conflicted on air cylinder base.
On described substrate, be also provided with for controlling the flexible telescoping mechanism of finger assembly; Described telescoping mechanism comprises expansion plate, and described expansion plate is bolted on substrate; Described finger assembly is arranged on described expansion plate.
Described rotating mechanism comprises the connecting plate being fixed on pedestal, is interval with polylith projection on described connecting plate, and these projections are provided with axis hole; The below of described connecting plate is provided with substrate, is also interval with polylith with the projection of axis hole on described substrate; Together with projection on described substrate alternately interts with projection on described connecting plate, connecting axle through the axis hole on these projections, is connected to described substrate rotating on described connecting plate successively; The 3rd cylinder is positioned on support by holding up arm; Holding up arm is fixedly connected on support; The piston rod of the 3rd cylinder is by contiguous block connection substrate; Contiguous block is rotatably connected on substrate by connecting axle; The 3rd cylinder is obliquely installed with respect to described guide rail, thereby promote substrate, within the scope of 90 °, rotates.
In above-mentioned each scheme, described charging tray assembly comprises the central shaft being arranged on described support, and charging tray, driver plate and toothed disc are rotatably connected on this central shaft centered by this central shaft, and described charging tray is located with respect to described toothed disc; The cross section of the gear teeth of described toothed disc is rectangular trapezium structure roughly, and rounding off between its beveled edges and the outer peripheral edges of described toothed disc;
Described driver plate is provided with push rod, conflicts on the periphery of described toothed disc and between adjacent two gear teeth in one end of this push rod; The other end of the push rod backstay that is slidably connected; Backstay is fixed on locating support, and locating support is fixed on described driver plate; On backstay, be arranged with spring, and conflict respectively on top board and locating support in the two ends of spring; One end that push rod is conflicted on toothed disc has the structure suitable with the gear teeth, and one side is the linear structure suitable with the right angle of the gear teeth, and opposite side is the round and smooth chamfering structure suitable with the round and smooth hypotenuse of the gear teeth; Driver plate cylinder is fixed on described support, the piston rod of the driver plate cylinder described driver plate that is articulated and connected;
Described charging tray is provided with a plurality of material covers for accommodating workpiece.
Described central axle sleeve is located in axle sleeve and can along axle sleeve, moves up and down under external force; Described axle sleeve is fixed on described support; Between described axle sleeve and described central shaft, be also provided with and limit the locking member that both relatively move; In central shaft, be provided with swivel nut, the described swivel nut screw rod that is threaded, it is outer and be connected with handwheel that the outer end of described screw rod is positioned at described axle sleeve.
Described locking member comprises tie down screw, and described tie down screw is located on described axle sleeve and two ends expose to axle sleeve, and the other end of tie down screw connects locking nut; On tie down screw, be also arranged with latch segment, described latch segment is between described axle sleeve and described central shaft and abut on the sidewall of described central shaft.
Compared with prior art, robot manipulator structure action provided by the utility model is accurate, working stability, and operating efficiency is high, low cost of manufacture, and the workpiece of the adaptive sizes of energy.
Accompanying drawing explanation
Fig. 1 is the schematic perspective view that the utility model embodiment is used state;
Fig. 2 is the partial enlarged drawing of A part in Fig. 1;
Fig. 3 points the longitudinal sectional view of component assembling structure in the utility model embodiment;
Fig. 4 is the schematic perspective view (releasing orientation has been removed housing) of pointing assembly releasing orientation assembly structure in the utility model embodiment;
Fig. 5 is the schematic perspective view (having removed housing) of pointing assembly releasing orientation assembly structure in the utility model embodiment;
Fig. 6 is the schematic perspective view of A part different angles in Fig. 1;
Fig. 7 to Figure 10 is the schematic perspective view (after rotating mechanism rotation) of A part different angles in Fig. 1;
Figure 11 and Figure 12 are the longitudinal sectional view of the charging tray component assembling structure of the utility model embodiment different angles;
Figure 13 is the transverse sectional view of the utility model embodiment charging tray assembly;
Figure 14 is the top view of the utility model embodiment charging tray assembly;
Figure 15 is the front view of the utility model embodiment charging tray assembly;
Figure 16 to Figure 18 be in the utility model embodiment mobile phone component together with the cutaway view of the different angles of rotating mechanism, telescoping mechanism and crossbeam, guide rail and slide block assembly structure;
Figure 19 is the floor map that the utility model embodiment removes the assembly structure after charging tray assembly and support;
Figure 20 is the schematic perspective view that the utility model embodiment removes the assembly structure after charging tray assembly and support.
The specific embodiment
Below in conjunction with accompanying drawing, embodiment is described in further detail the utility model.
As shown in Fig. 1 to Figure 20, this manipulator is mainly used in coordinating lathe 10 processing, takes, puts workpiece 101.It comprises that the crossbeam 11 of support 1 top is provided with guide rail 14 for the support 1 of fixing and spacing each parts of manipulator, and guide rail 14 is provided with a plurality of a plurality of slide blocks that can slide along guide rail 14 under external force.
The position that captures workpiece to be processed corresponding to finger assembly 6 is provided with the first positioning component 15 on crossbeam 11; Position corresponding to from finger assembly 6 to the feeding of lathe station is provided with the second positioning component 16 on crossbeam 11; The feeding position that captures the workpiece processing corresponding to finger assembly 6 is provided with the 3rd positioning component 17 on crossbeam;
The first positioning component, the second positioning component are identical with the structure of the 3rd positioning component, include the positioning cylinder 18 being arranged on crossbeam 11, the piston rod subtend pedestal 4 of positioning cylinder, and pedestal is provided with the locating slot 41 for the piston rod of accommodating positioning cylinder.
The present embodiment is arranged on taper locating piece 19 in the tip position of piston rod, and locating slot 41 is suitable with it pyramidal structure.This structure facilitates the inserting of locating piece and locating slot and both is separated.
The first cylinder 3 is positioned on support 1, and the piston rod of the first cylinder is conflicted on pedestal 4.
Pedestal 4 is fixed on the first slide block 31 and the second slide block 32.On pedestal 4, be also fixedly connected with the piston rod of the second cylinder 4.The second cylinder 4 is fixed on the 3rd slide block 33 and Four-slider 34, can along guide rail 14, slide with the 3rd slide block 33 and Four-slider 34.
The below of pedestal 4 is provided with rotating mechanism 5.
Rotating mechanism 5 comprises: be fixed on the connecting plate 51 on pedestal 4, be interval with polylith projection on connecting plate 51, these projections are provided with axis hole.The below of connecting plate 51 is provided with substrate 52, is also interval with polylith with the projection of axis hole on substrate 52.Together with projection on substrate alternately interts with the projection on connecting plate, connecting axle passes the axis hole on these projections successively, thereby substrate 52 is rotatably connected on connecting plate 51.The 3rd cylinder 54 is positioned on support 1 by holding up arm 53; Holding up arm 53 is fixedly connected on support 1; The piston rod 55 of the 3rd cylinder is by contiguous block 56 connection substrates 52; Contiguous block 56 is rotatably connected on substrate 52 by connecting axle 57.The 3rd cylinder 54 is obliquely installed with respect to guide rail, thereby promote substrate 52, within the scope of 90 °, rotates.
Finger assembly 6 is arranged on substrate 52, and rotates with the rotation of substrate 52.
Finger assembly in the present embodiment has two groups, and wherein first-hand finger assembly is for capturing workpiece to be processed from charging tray, and second finger assembly is for capturing from lathe the workpiece processing.Slightly different except the size of the clamping plate of the grabbing workpiece for mating, the structures of these two groups finger assemblies are identical.
Clamping plate for holding workpiece in finger assembly have two at least, conventionally arrange three or four; Finger assembly in the present embodiment comprises that four for the clamping plate 62 of holding workpiece.Finger assembly in the present embodiment also comprise for accommodating and protect other finger assembly housing 61; each clamping plate 62 are located on the first end face of housing evenly and at intervals; part exposes to housing for holding workpiece, and part is positioned at housing and connects by contiguous block 63 the first drive link 64 that is arranged on housing.The first drive link 64 with contiguous block for being fixedly connected with, be articulated and connected one end of the second drive link 65 of the first drive link 64, the other end of the second drive link 65 is articulated and connected in transfer block 66, and transfer block 66 is connected on the piston rod 671 of finger cylinder 67, and with piston rod 671 motions.
Above-mentioned the second drive link 65, transfer block 66 and contiguous block 63 are all arranged in housing 61.
Vibration influence when preventing from pointing assembly work is to job stability, and guarantees to point the service life of assembly, and the present embodiment is also provided with shockproof assembly 68.Shockproof assembly 68 comprises spring base 681 and is arranged on the spring 682 in spring base 681, and the upper end buckle closure of spring 682 has upper shield 683, and upper shield 683 is slidably located in spring base 681.Spring base 681 is fixed on substrate 57.Finger cylinder 67 is fixed on air cylinder base 69, and air cylinder base 69 is set in outside spring base 681, and upper shield 683 is conflicted on air cylinder base 69.
Because two cover finger assemblies are responsible for respectively capturing different workpiece, therefore two cover finger assemblies also need to do relative motion with respect to the station of lathe.This relative motion completes by the driving of the second cylinder.
In order to facilitate the workpiece of adaptive different size, the present embodiment is also provided with for controlling the flexible telescoping mechanism 7 of finger assembly.This telescoping mechanism 7 comprises expansion plate 71, and described expansion plate 71 is connected on substrate 57 by bolt 72.By twisting bolt 72, can change the relative position between expansion plate 71 and substrate 57, thereby change finger assembly with respect to the extension elongation of substrate 57, to facilitate the workpiece that captures different size.Finger assembly 6 is arranged on expansion plate 71.
On support 1, be also provided with charging tray assembly 8.
Charging tray assembly 8 comprises charging tray 81, and the periphery along charging tray on charging tray 81 is evenly equipped with a plurality of covers of the material for accommodating workpiece to be processed 91 82.The below of charging tray is fixedly connected on toothed disc 83, and the gear teeth on toothed disc 83 are rectangular trapezium structure roughly, and rounding off between its beveled edges and the outer peripheral edges of toothed disc.Charging tray 81 and toothed disc 83 are set on central shaft 84, and can with respect to central shaft 84, rotate under external force.
On central shaft 84, be also arranged with driver plate 85 in relative rotation.Driver plate is provided with push rod 86, conflicts on toothed disc between adjacent two gear teeth in one end of this push rod 86; The other end of the push rod backstay 97 that is slidably connected; Backstay 97 is fixed on locating support 99; On backstay 97, be arranged with spring 98, and conflict respectively on top board 86 and locating support 99 in the two ends of spring 98.One end that push rod is conflicted on toothed disc has the structure suitable with the gear teeth, one side is the linear structure suitable with the right angle of the gear teeth, opposite side is the round and smooth chamfering structure suitable with the round and smooth hypotenuse of the gear teeth, to facilitate push rod to make to depart from swimmingly the yoke of the previous gear teeth at retraction.
Driver plate cylinder 87 is with respect to support 1 location; The present embodiment is provided with positioning disk 88 on support 1, and driver plate cylinder is fixed on positioning disk 88, and the piston rod 89 of driver plate cylinder is by being arranged on connecting axle on the driver plate driver plate 85 that is articulated and connected.
Central shaft 84 is set in axle sleeve 91 and can along axle sleeve 91, moves up and down under external force.Axle sleeve 91 is fixed on support 1.Between axle sleeve 91 and central shaft 84, be also provided with locking member.Locking member comprises the latch segment 92 being arranged between axle sleeve 91 and central shaft 84, and latch segment 92 is set on tie down screw 93, and this tie down screw 93 exposes to axle sleeve 91 through axle sleeve 91 its two ends.By turning tie down screw 93, make latch segment 92 extruding center axles 84, thereby make central shaft 84 with respect to axle sleeve 91 location.
In central shaft 84, be provided with swivel nut 94, this swivel nut screw rod 95 that has been threaded, it is outer and be connected with handwheel 96 that the outer end of screw rod is positioned at axle sleeve 91.By rotating handwheel, can make swivel nut with respect to screw motion, thereby make axle sleeve together with central shaft upper and lower displacement, with the crawl of the workpiece of adaptive different size.
On support 1, be also provided with for placing the first charging basket 12 of unprocessed workpiece and processing the second charging basket 13 of workpiece afterwards for placing.In the present embodiment, the first charging basket 12 and the second charging basket 13 lay respectively at right side and the left side of charging tray.
The operation principle of this manipulator is described below:
Before work, workman is first put into each workpiece to be processed in the material cover 82 of charging tray assembly, starts manipulator.
First the first cylinder operation, drives first, second slide block along guide rail movement, and first, second slide block drives pedestal to point assemblies along guide rail movement together with two.When first-hand finger assembly moves to charging tray top, the first cylinder quits work; Meanwhile, the positioning cylinder of the first positioning component is started working, and locating piece is inserted in the locating slot on pedestal, and pedestal is locked, and the vibrations while avoiding work make to point assembly dislocation, affects the accuracy of work.Two the 3rd cylinder work, promote 90 ° of substrate rotating, make clamping plate subtend workpiece.
First-hand finger assembly work.Finger cylinder operation, piston, when promotion transfer block is outwards mobile, drives the second drive link, the first drive link action successively, makes contiguous block drive clamping plate to expand outwardly when moving to workpiece direction, and retaining ring is outside workpiece.Then the piston rod retraction of pointing cylinder, above-mentioned each parts counteragent, inwardly retracts clamping plate, thereby by piece-holder between each clamping plate.
After finger assembly grabbing workpiece, the piston rod retraction of the 3rd cylinder, makes base plate strip start the reverse 90 ° of retractions of finger assembly.Meanwhile, the positioning cylinder work of the first positioning component, piston rod is retracted, spacing to pedestal of cancellation.Then the first cylinder operation, promotes pedestal and moves along guide rail, makes the station of workpiece subtend lathe; The second positioning component work, the piston rod of the second positioning cylinder stretches out, and locating piece is inserted in locating slot, limits the position of finger assembly; Meanwhile, the finger cylinder operation of first-hand finger assembly, sends workpiece into lathe station; Meanwhile, each clamping plate of first-hand finger assembly extend out, and unclamp workpiece; Now point spring after cylinder and withstand workpiece, before lathe station clamping work pieces, make that workpiece can not become flexible, displacement.Then, the piston rod retraction of finger cylinder, the clamping plate of first-hand finger assembly inwardly shrink when bouncing back in housing.
Above-mentioned finger assembly is when work, owing to being provided with shockproof assembly, so under the cushioning effect of spring, the vibrations of finger assembly are dwindled greatly, good operating stability.
In the time of above-mentioned the first cylinder operation, the second cylinder is under the promotion of pedestal, and drive the 3rd, Four-slider move along guide rail together.
Workpiece is on lathe after completion of processing, and the cylinder of the second positioning component bounces back, and cancellation is spacing to pedestal; The second cylinder operation, promotes pedestal and moves along guide rail together with first, second slide block, makes the manufactured workpiece of clamping plate subtend of second finger assembly; Now, the 3rd positioning component work, is inserted in locating slot the locating piece of the 3rd positioning component.The work of second finger assembly, first clamps workpiece, then retraction.The first cylinder operation, moves together with two finger assemblies pedestal along guide rail, make first-hand finger assembly subtend charging tray, captures workpiece to be processed.
In first-hand finger assembly work, second finger assembly is also done same action, unclamps the workpiece processing, and the workpiece processing is fallen in the second charging basket.
After a workpiece on charging tray assembly is crawled, driver plate cylinder operation, promotes driver plate and rotates along central shaft, thereby make push rod on driver plate promote toothed disc, rotates.Toothed disc drives charging tray to rotate together, workpiece in next material cover is positioned at and treats crawl position.Then the piston rod of driver plate cylinder retraction, goes back to original position by driver plate, and push rod slips over the gear teeth at round and smooth oblique angle on toothed disc, is retracted into original position, between rear gear teeth and the previous gear teeth.So repeat, the workpiece on charging tray can be delivered to crawl station one by one.
When workpiece to be processed changes size, can turn handwheel according to the actual size of workpiece, make central shaft together with moving or move down on whole charging tray assembly, thus adaptive workpiece size.

Claims (8)

1. a robot manipulator structure, comprises support, is arranged on guide rail on the crossbeam on described support and for placing the charging tray assembly of workpiece to be processed; Described guide rail is provided with the pedestal that can slide along guide rail, and described pedestal is provided with the finger assembly for grabbing workpiece; It is characterized in that:
Described finger assembly has two covers, and wherein first set finger assembly is used for capturing unprocessed workpiece, and the second cover finger assembly is used for capturing the rear workpiece of processing; Described finger assembly is arranged on described pedestal by rotating mechanism, and described pedestal connects described guide rail by the first slide block, and described support is provided with the first cylinder for driving described pedestal to move along described guide rail;
On described support, be also provided with the second cylinder for driving described pedestal to slide along described guide rail;
The piston rod of described the first cylinder and described the second cylinder is all connected to described pedestal; Described the second cylinder connects described guide rail by the second slide block;
On described crossbeam, also the position corresponding to described finger assembly crawl workpiece to be processed is provided with the first positioning component; Position corresponding to from described finger assembly to the feeding of lathe station is provided with the second positioning component on described crossbeam; The feeding position that captures the workpiece processing corresponding to described finger assembly is provided with the 3rd positioning component on described crossbeam;
The first positioning component, the second positioning component are identical with the structure of the 3rd positioning component, include the positioning cylinder being arranged on described crossbeam, pedestal described in the piston rod subtend of described positioning cylinder, described pedestal is provided with the locating slot for the piston rod of accommodating positioning cylinder;
Described pedestal is provided with the 3rd cylinder, and the piston rod of described the 3rd cylinder drives the described rotating mechanism of connection to rotate within the scope of 90 °.
2. robot manipulator structure according to claim 1, it is characterized in that described finger assembly comprises housing and two clamping plates at least, described in each, clamping plate are located on the first end face of housing evenly and at intervals, described in each, clamping plate partly expose to housing for holding workpiece, and described in each, the other part of clamping plate is positioned at housing and by contiguous block, connects the first drive link that is arranged on housing; Described the first drive link with contiguous block for being fixedly connected with, be articulated and connected one end of the second drive link of described the first drive link, the other end of the second drive link is articulated and connected in transfer block, transfer block is connected on the piston rod of finger cylinder.
3. robot manipulator structure according to claim 2, is characterized in that described housing is arranged on shockproof assembly; Described shockproof assembly comprises spring base and be arranged on the spring in spring base, and the upper end buckle closure of spring has upper shield, and upper shield is slidably located in spring base; Spring base is fixed on substrate; Finger cylinder is fixed on air cylinder base, and air cylinder base is set in outside spring base, and upper shield is conflicted on air cylinder base.
4. robot manipulator structure according to claim 3, is characterized in that being also provided with for controlling the flexible telescoping mechanism of finger assembly on described substrate; Described telescoping mechanism comprises expansion plate, and described expansion plate is bolted on substrate; Described finger assembly is arranged on described expansion plate.
5. robot manipulator structure according to claim 1, is characterized in that described rotating mechanism comprises the connecting plate being fixed on pedestal, is interval with polylith projection on described connecting plate, and these projections are provided with axis hole; The below of described connecting plate is provided with substrate, is also interval with polylith with the projection of axis hole on described substrate; Together with projection on described substrate alternately interts with projection on described connecting plate, connecting axle through the axis hole on these projections, is connected to described substrate rotating on described connecting plate successively; The 3rd cylinder is positioned on support by holding up arm; Holding up arm is fixedly connected on support; The piston rod of the 3rd cylinder is by contiguous block connection substrate; Contiguous block is rotatably connected on substrate by connecting axle; The 3rd cylinder 54 is obliquely installed with respect to described guide rail, thereby promote substrate, within the scope of 90 °, rotates.
6. according to the robot manipulator structure described in the arbitrary claim of claim 1 to 5, it is characterized in that described charging tray assembly comprises the central shaft being arranged on described support, charging tray, driver plate and toothed disc are rotatably connected on this central shaft centered by this central shaft, and described charging tray is located with respect to described toothed disc; The cross section of the gear teeth of described toothed disc is rectangular trapezium structure roughly, and rounding off between its beveled edges and the outer peripheral edges of described toothed disc;
Described driver plate is provided with push rod, conflicts on the periphery of described toothed disc and between adjacent two gear teeth in one end of this push rod; The other end of the push rod backstay that is slidably connected; Backstay is fixed on locating support, and locating support is fixed on described driver plate; On backstay, be arranged with spring, and conflict respectively on top board and locating support in the two ends of spring; One end that push rod is conflicted on toothed disc has the structure suitable with the gear teeth, and one side is the linear structure suitable with the right angle of the gear teeth, and opposite side is the round and smooth chamfering structure suitable with the round and smooth hypotenuse of the gear teeth; Driver plate cylinder is fixed on described support, the piston rod of the driver plate cylinder described driver plate that is articulated and connected;
Described charging tray is provided with a plurality of material covers for accommodating workpiece.
7. robot manipulator structure according to claim 6, is characterized in that described central axle sleeve is located in axle sleeve and can along axle sleeve, moves up and down under external force; Described axle sleeve is fixed on described support; Between described axle sleeve and described central shaft, be also provided with and limit the locking member that both relatively move; In central shaft, be provided with swivel nut, the described swivel nut screw rod that is threaded, it is outer and be connected with handwheel that the outer end of described screw rod is positioned at described axle sleeve.
8. robot manipulator structure according to claim 7, is characterized in that described locking member comprises tie down screw, and described tie down screw is located on described axle sleeve and two ends expose to axle sleeve, and the other end of tie down screw connects locking nut; On tie down screw, be also arranged with latch segment, described latch segment is between described axle sleeve and described central shaft and abut on the sidewall of described central shaft.
CN201320502898.3U 2013-08-16 2013-08-16 Mechanical hand structure Expired - Fee Related CN203527121U (en)

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CN203527121U true CN203527121U (en) 2014-04-09

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103394957A (en) * 2013-08-16 2013-11-20 孟秋华 Manipulator structure
CN105436974A (en) * 2015-12-15 2016-03-30 襄阳龙思达智控技术有限公司 Truss robot for numerical control processing center
CN107498196A (en) * 2017-08-11 2017-12-22 武汉天琪激光设备制造有限公司 A kind of self-centering chuck and the pipe cutting machine with the chuck

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103394957A (en) * 2013-08-16 2013-11-20 孟秋华 Manipulator structure
CN103394957B (en) * 2013-08-16 2015-10-28 孟秋华 A kind of robot manipulator structure
CN105436974A (en) * 2015-12-15 2016-03-30 襄阳龙思达智控技术有限公司 Truss robot for numerical control processing center
CN107498196A (en) * 2017-08-11 2017-12-22 武汉天琪激光设备制造有限公司 A kind of self-centering chuck and the pipe cutting machine with the chuck

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