CN204183035U - The robot device of circular saw bit - Google Patents
The robot device of circular saw bit Download PDFInfo
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- CN204183035U CN204183035U CN201420586449.6U CN201420586449U CN204183035U CN 204183035 U CN204183035 U CN 204183035U CN 201420586449 U CN201420586449 U CN 201420586449U CN 204183035 U CN204183035 U CN 204183035U
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Abstract
The utility model relates to a kind of robot device of circular saw bit, circular saw bit can be put into grinding machine from mounting table taking-up and grind.One end of directed lower beam with No. five hinges and turntable hinged, the other end No. six hinges and corner hinges; One end of directed upper boom with No. seven hinges and wrist hinged, the other end No. eight hinges and corner hinges; A hinge hinge axes place straight line, No. five hinge hinge axes place straight lines, No. six hinge hinge axes place straight lines, No. two hinge hinge axes place straight lines are respectively the straight line at a parallelepiped four incline places; No. two hinge hinge axes place straight lines, No. eight hinge hinge axes place straight lines, No. seven hinge hinge axes place straight lines, No. four hinge hinge axes place straight lines are respectively the straight line at another parallelepiped four incline places.When tipper mechanical arm is turned to original position, upward, when tipper mechanical arm is turned to final position, No. two grasping mechanisms down for No. two grasping mechanisms.
Description
Technical field
The utility model relates to a kind of robot device of circular saw bit.
Background technology
Circular saw bit needs, by special device, circular saw bit is put into grinding machine from mounting table taking-up in process of production and grinds.This device of prior art, mechanization degree, automaticity, operating efficiency are all lower, and labor strength is large.
Multi-joint manipulator is widely used in various field.As application number be 201210106092.2, name is called the Chinese patent of bionical multi-joint handling machinery arm.
This manipulator of prior art, when mechanical arm rotates, due to the interlock reason of structure, its wrist also itself can rotate in the process of movement again, and the grasping mechanism energy grabbing workpiece in wrist will be made, after mechanical arm drives wrist to arrive crawl station, wrist often needs rotate and make grasping mechanism forward suitable angle to, like this in wrist, just needs a set of power set of extra arranging.And for a few thing occasion, workpiece moves another station from a station to by manipulator, workpiece just translation between these two stations, like this, manipulator is in these two stations, and the relative angle between grasping mechanism and workpiece is fixing.The grinding step of such as circular saw bit, circular saw bit be put into grinding machine before handling process in, circular saw bit moves another station from a station to by manipulator, and on these two stations, circular saw bit and grasping mechanism are all keep same angle.Such workplace, as long as ensure that the grasping mechanism in wrist only translation occurs and rotation does not occur in moving process, just not only can content with funtion, and wrist does not need again additionally to arrange a set of power set, decrease cost.
Utility model content
The purpose of this utility model is to overcome above shortcomings in prior art, and a kind of robot device of circular saw bit of reasonable in design is provided, circular saw bit can be put into grinding machine from mounting table taking-up to grind, mechanization degree, automaticity, operating efficiency are all higher, and labor strength is little.
The technical scheme in the invention for solving the above technical problem is: a kind of robot device of circular saw bit, is characterized in that: comprise four joint Manipulators and the manipulator that turns over, and four joint Manipulators and the manipulator that turns over coordinate;
Four joint Manipulators comprise a frame, motor, turntable, electric cylinder, large mechanical arm, gadget arm, No. two electric cylinders, wrist, directed lower beam, directed upper boom, corner, grasping mechanisms; Turntable is vertically arranged, and is rotatably connected in a frame; A motor is connected with turntable, and turntable can be driven to rotate in a frame; The afterbody of large mechanical arm with a hinge and turntable hinged, large mechanical arm can rotate around the hinge axes of a hinge; The head of large mechanical arm with No. two hinges and gadget arm hinged, large mechanical arm and gadget arm can relatively rotate around the hinge axes of No. two hinges; The cylinder body of an electric cylinder is hinged on large mechanical arm, its piston with No. three hinges and gadget arm hinged; Wrist is hinged with the head of No. four hinges and gadget arm, and wrist and gadget arm can relatively rotate around the hinge axes of No. four hinges, are fixed with a grasping mechanism bottom wrist; The cylinder body of No. two electric cylinders is hinged on large mechanical arm, its piston and turntable hinged; Corner and No. two chain connections, corner can rotate around the hinge axes of No. two hinges; One end of directed lower beam with No. five hinges and turntable hinged, directed lower beam can rotate around the hinge axes of No. five hinges; The other end No. six hinges and the corner hinges of directed lower beam, directed lower beam and corner can relatively rotate around the hinge axes of No. six hinges; One end of directed upper boom with No. seven hinges and wrist hinged, directed upper boom and wrist can relatively rotate around the hinge axes of No. seven hinges; The other end No. eight hinges and the corner hinges of directed upper boom, directed upper boom and corner can relatively rotate around the hinge axes of No. eight hinges; These four straight lines of straight line at the straight line at a hinge hinge axes place, the straight line at No. five hinge hinge axes places, the straight line at No. six hinge hinge axes places, No. two hinge hinge axes places are respectively the straight line at four incline places of a parallelepiped; These four straight lines of straight line at the straight line at No. two hinge hinge axes places, the straight line at No. eight hinge hinge axes places, the straight line at No. seven hinge hinge axes places, No. four hinge hinge axes places are respectively the straight line at four incline places of another parallelepiped;
The mechanical hand that turns over comprises No. two frames, No. two motors, tipper mechanical arm, No. two grasping mechanisms; No. two motors are arranged in No. two frames; Tipper mechanical arm one end is rotatably installed in No. two frames by No. nine hinges, and the other end fixes No. two grasping mechanisms; Tipper mechanical arm can overturn around the hinge axes of No. nine hinges in No. two frames, and when tipper mechanical arm is turned to original position, upward, when tipper mechanical arm is turned to final position, No. two grasping mechanisms down for No. two grasping mechanisms; The hinge axes level of No. nine hinges; The motor shaft of No. two motors is connected with tipper mechanical arm, and tipper mechanical arm can be driven to overturn around the hinge axes of No. nine hinges.
No. three hinges described in the utility model, No. two hinges, No. four hinges are arranged in order.
A grasping mechanism described in the utility model is electromagnet.
No. two grasping mechanisms described in the utility model are electromagnet.
The utility model compared with prior art, have the following advantages and effect: reasonable in design, coordinated by four joint Manipulators and the manipulator that turns over, circular saw bit can be put on grinding machine and grind, mechanization degree, automaticity, operating efficiency are all higher, and labor strength is little.
These four straight lines of straight line at the straight line at a hinge hinge axes place, the straight line at No. five hinge hinge axes places, the straight line at No. six hinge hinge axes places, No. two hinge hinge axes places are respectively the straight line at four incline places of a parallelepiped.These four straight lines of straight line at the straight line at No. two hinge hinge axes places, the straight line at No. eight hinge hinge axes places, the straight line at No. seven hinge hinge axes places, No. four hinge hinge axes places are respectively the straight line at four incline places of another parallelepiped.By this structure, can ensure that a grasping mechanism in wrist only translation occurs and rotation do not occur in moving process.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model embodiment four joint Manipulator.
Fig. 2 is that the utility model embodiment turns over the structural representation of manipulator.
Fig. 3 is the schematic diagram that the utility model embodiment station is installed.
Detailed description of the invention
Below in conjunction with accompanying drawing, also by embodiment, the utility model is described in further detail, and following examples are that the utility model is not limited to following examples to explanation of the present utility model.
See Fig. 1, the utility model embodiment comprises four joint Manipulators and the manipulator that turns over.
Turntable 1, electric cylinder 2, large mechanical arm 3, gadget arm 4, No. two electric cylinders 5, wrist 6, directed lower beam 7, directed upper boom 8, corner 9, frame 10, motor, a grasping mechanism 20.
Turntable 1 is vertically arranged, and is rotatably connected on the top of a frame 10, and turntable 1 is axial restraint in a frame 10, and circumference is rotated.This structure makes the utility model be provided with a joint.
The body of a motor is arranged in a frame 10, and a motor shaft is connected with turntable 1 by pulley mechanism.A motor can drive turntable 1 to rotate in a frame 11.
The afterbody of large mechanical arm 3 is hinged with a hinge 12 and turntable 1, and large mechanical arm 3 can rotate around the hinge axes of a hinge 12.The head of large mechanical arm 3 is hinged with No. two hinges 13 and gadget arm 4, and large mechanical arm 3 and gadget arm 4 can relatively rotate around the hinge axes of No. two hinges 13.A hinge 12 and No. two hinges 13 make the utility model be provided with a joint respectively.
The cylinder body of an electric cylinder 2 is hinged on large mechanical arm 3, and its piston is hinged with the afterbody of gadget arm 4 with No. three hinges 14.
Wrist 6 is hinged with the head of gadget arm 4 with No. four hinges 15, and wrist 6 and gadget arm 4 can relatively rotate around the hinge axes of No. four hinges 15.No. four hinges 15 make the utility model be provided with a joint.
A grasping mechanism 20 is fixed with bottom wrist 6.A grasping mechanism 20 can adopt clamp-type, holding type and absorbent-type etc., and in this practical example, a grasping mechanism 20 is electromagnet, matches with the metal material of circular saw bit, and cost is low, easy to use, effect is very good.
No. three hinges 14, No. two hinges 13, No. four hinges 15 are arranged in order, and such electric cylinder 2 more effectively can promote gadget arm 4 and rotate relative to the hinge axes of large mechanical arm 3 around No. two hinges 13.
The cylinder body of No. two electric cylinders 5 is hinged on large mechanical arm 3, its piston and turntable 1 hinged.
Corner 9 is connected with No. two hinges 13, and corner 9 can rotate around the hinge axes of No. two hinges 13.
Directed lower beam 7 one end is hinged with No. five hinges 16 and turntable 1, and directed lower beam 7 can rotate around the hinge axes of No. five hinges 16.Directed lower beam 7 other end is hinged with No. six hinges 17 and corner 9, and directed lower beam 7 and corner 9 can relatively rotate around the hinge axes of No. six hinges 17.
Directed upper boom 8 one end is hinged by No. seven hinges 18 and wrist 6, and directed upper boom 8 and wrist 6 can relatively rotate around the hinge axes of No. seven hinges 18; Directed upper boom 8 other end is hinged with No. eight hinges 19 and corner 9, and directed upper boom 8 and corner 9 can relatively rotate around the hinge axes of No. eight hinges 19.
The four joint Manipulator courses of work are as follows:
Process 1: number motor action, one motor shaft drives turntable 1 to rotate, and turntable 1 drives large mechanical arm 3 to rotate, and large mechanical arm 3 drives gadget arm 4 to rotate, and gadget arm 4 drives wrist 6 to rotate.
The action of process 2: No. two electric cylinders 5, its piston stretches, and No. two electric cylinders 5 promote large mechanical arm 3 and rotate around the hinge axes of a hinge 12, and large mechanical arm 3 drives gadget arm 4 to rotate, and gadget arm 4 drives wrist 6 to rotate.
The action of process 3: numbers electric cylinders 2, its piston stretches, and No. two electric cylinders 5 promote gadget arm 4 and rotate relative to the hinge axes of large mechanical arm 3 around No. two hinges 13, and gadget arm 4 drives wrist 6 to rotate.
In said process 2, directed lower beam 7 first produces interlock, and its hinge axes around No. five hinges 16 is rotated.Directed lower beam 7 other end is by No. six hinge 17 push-and-pull corners 9, and corner 9 and directed lower beam 7 relatively rotate around the hinge axes of No. six hinges 17.Corner 9 is by the directed upper boom 8 of No. eight hinge 19 push-and-pulls, and directed upper boom 8 and corner 9 relatively rotate around the hinge axes of No. eight hinges 19.Directed upper boom 8 is by No. seven hinge 18 push-and-pull wrists 6, and directed upper boom 8 and wrist 6 relatively rotate around the hinge axes of No. seven hinges 18, and wrist 6 and gadget arm 4 relatively rotate around the hinge axes of No. four hinges 15.
In said process 3, directed upper boom 8 produces interlock, and by No. seven hinge 18 push-and-pull wrists 6, and directed upper boom 8 and wrist 6 relatively rotate around the hinge axes of No. seven hinges 18, and wrist 6 and gadget arm 4 relatively rotate around the hinge axes of No. four hinges 15.Corner 9 is motionless, and by lever principle, directed upper boom 8 and corner 9 relatively rotate around the hinge axes of No. eight hinges 19.
These four straight lines of straight line at the straight line at a hinge 12 hinge axes place, the straight line at No. five hinge 16 hinge axes places, the straight line at No. six hinge 17 hinge axes places, No. two hinge 13 hinge axes places are respectively the straight line at four incline places of a parallelepiped.These four straight lines of straight line at the straight line at No. two hinge 13 hinge axes places, the straight line at No. eight hinge 19 hinge axes places, the straight line at No. seven hinge 18 hinge axes places, No. four hinge 15 hinge axes places are respectively the straight line at four incline places of another parallelepiped.As common practise, parallelepiped is defined as: bottom surface is that the quadrangular of parallelogram is called parallelepiped.Under this configuration, according to linkage principle, in said process 2 and process 3, no matter how large mechanical arm 3 and gadget arm 4 rotate, the plane (being called for short plane A) at the straight line at No. six hinge 17 hinge axes places and these two straight line places of straight line at No. two hinge 13 hinge axes places is parallel to the plane (being called for short plane B) at the straight line at a hinge 12 hinge axes place and these two straight line places of straight line at No. five hinge 16 hinge axes places all the time, and a hinge 12 and No. five hinges 16 install after position on turntable 1 can not change, therefore the position of plane B on turntable 1 is fixing, like this, corner 9 is fixing (both relative positions can change) with the angle of plane B.Same principle, the plane (being called for short plane C) at the straight line at No. seven hinge 18 hinge axes places and these two straight line places of straight line at No. four hinge 15 hinge axes places is parallel to the plane (being called for short plane D) at the straight line at No. two hinge 13 hinge axes places and these two straight line places of straight line at No. eight hinge 19 hinge axes places all the time, and due to corner 9 be fixing relative to the angle of plane B, namely the angle of plane D and plane B is fixing, the angle of plane C and plane B is also fixing (both relative positions can change), in this case, wrist 6 is also fixing (both relative positions can change) with the angle of plane B, namely in said process 2 and process 3, no matter how large mechanical arm 3 and gadget arm 4 rotate, wrist 6 is fixing (both relative positions can change) with the angle of plane B, like this, only translation is there is and rotation does not occur in a grasping mechanism 20 in wrist 6 in moving process.
The mechanical hand that turns over comprises No. two frames 21, No. two motors 22, tipper mechanical arm 23, No. two grasping mechanisms 24.
No. two motor 22 levels are arranged in No. two frames 21.
Tipper mechanical arm 23 one end is rotatably installed in No. two frames 21 by No. nine hinges 11, and the other end fixes No. two grasping mechanisms 24.Tipper mechanical arm 23 can overturn around the hinge axes of No. nine hinges 11 in No. two frames 21, further, when tipper mechanical arm 23 is turned to original position, No. two grasping mechanisms 24 upward, when tipper mechanical arm 23 is turned to final position, No. two grasping mechanisms 24 down.The hinge axes level of No. nine hinges 11.
The motor shaft of No. two motors 22 is connected with tipper mechanical arm 23 by pulley mechanism, and tipper mechanical arm 23 can be driven to overturn around the hinge axes of No. nine hinges 11 in No. two frames 21.
No. two grasping mechanisms 24 can adopt clamp-type, holding type and absorbent-type etc., and in this practical example, No. two grasping mechanisms 24 are electromagnet, match with the metal material of circular saw bit, and cost is low, easy to use, effect is very good.
Utility model works process is as follows:
Turn in manipulator, No. two motors 22 drive tipper mechanical arm 23 to be turned to original position around the hinge axes of No. nine hinges 11, and No. two grasping mechanisms 24 upward.Four joint Manipulator actions, a grasping mechanism 20 moves to above the circular saw bit to be ground on mounting table, and by the effect of electromagnet, a grasping mechanism 20 adsorbs circular saw bit; The action again of four joint Manipulators, a grasping mechanism 20 moves to the top of No. two grasping mechanisms 24, and a grasping mechanism 20 decontrols circular saw bit, and circular saw bit falls No. two grasping mechanisms 24, by the effect of electromagnet, No. two grasping mechanisms 24 adsorb circular saw bit.No. two motors 22 drive tipper mechanical arm 23 to be turned to final position around the hinge axes of No. nine hinges 11, and down, send circular saw bit turn-over to grinding machine, No. two grasping mechanisms 24 decontrol circular saw bit to No. two grasping mechanisms 24, and circular saw bit is fallen on grinding machine.No. two motors 22 drive tipper mechanical arm 23 to be turned to original position around the hinge axes of No. nine hinges 11.Grinding machine is started working.
After having ground, also by the utility model, circular saw bit is taken out: No. two motors 22 drive tipper mechanical arm 23 to be turned to final position around the hinge axes of No. nine hinges 11, down, by the effect of electromagnet, No. two grasping mechanisms 24 adsorb circular saw bit to No. two grasping mechanisms 24; No. two motors 22 drive tipper mechanical arm 23 to be turned to original position around the hinge axes of No. nine hinges 11, and circular saw bit turn-over is sent grinding machine.Four joint Manipulator actions, grasping mechanism 20 moves to No. two grasping mechanisms 24, by the effect of electromagnet, No. two grasping mechanisms 24 decontrol circular saw bit, a grasping mechanism 20 adsorbs circular saw bit, four joint Manipulator actions, and a grasping mechanism 20 moves to the top of the respective regions of mounting table, a grasping mechanism 20 decontrols circular saw bit, and circular saw bit is fallen on the respective regions of mounting table.
In addition, it should be noted that, the specific embodiment described in this description, the shape, institute's title of being named etc. of its parts and components can be different, and the above content described in this description is only to the explanation of the utility model structure example.
Claims (4)
1. a robot device for circular saw bit, is characterized in that: comprise four joint Manipulators and the manipulator that turns over, and four joint Manipulators and the manipulator that turns over coordinate;
Four joint Manipulators comprise a frame, motor, turntable, electric cylinder, large mechanical arm, gadget arm, No. two electric cylinders, wrist, directed lower beam, directed upper boom, corner, grasping mechanisms; Turntable is vertically arranged, and is rotatably connected in a frame; A motor is connected with turntable, and turntable can be driven to rotate in a frame; The afterbody of large mechanical arm with a hinge and turntable hinged, large mechanical arm can rotate around the hinge axes of a hinge; The head of large mechanical arm with No. two hinges and gadget arm hinged, large mechanical arm and gadget arm can relatively rotate around the hinge axes of No. two hinges; The cylinder body of an electric cylinder is hinged on large mechanical arm, its piston with No. three hinges and gadget arm hinged; Wrist is hinged with the head of No. four hinges and gadget arm, and wrist and gadget arm can relatively rotate around the hinge axes of No. four hinges, are fixed with a grasping mechanism bottom wrist; The cylinder body of No. two electric cylinders is hinged on large mechanical arm, its piston and turntable hinged; Corner and No. two chain connections, corner can rotate around the hinge axes of No. two hinges; One end of directed lower beam with No. five hinges and turntable hinged, directed lower beam can rotate around the hinge axes of No. five hinges; The other end No. six hinges and the corner hinges of directed lower beam, directed lower beam and corner can relatively rotate around the hinge axes of No. six hinges; One end of directed upper boom with No. seven hinges and wrist hinged, directed upper boom and wrist can relatively rotate around the hinge axes of No. seven hinges; The other end No. eight hinges and the corner hinges of directed upper boom, directed upper boom and corner can relatively rotate around the hinge axes of No. eight hinges; These four straight lines of straight line at the straight line at a hinge hinge axes place, the straight line at No. five hinge hinge axes places, the straight line at No. six hinge hinge axes places, No. two hinge hinge axes places are respectively the straight line at four incline places of a parallelepiped; These four straight lines of straight line at the straight line at No. two hinge hinge axes places, the straight line at No. eight hinge hinge axes places, the straight line at No. seven hinge hinge axes places, No. four hinge hinge axes places are respectively the straight line at four incline places of another parallelepiped;
The mechanical hand that turns over comprises No. two frames, No. two motors, tipper mechanical arm, No. two grasping mechanisms; No. two motors are arranged in No. two frames; Tipper mechanical arm one end is rotatably installed in No. two frames by No. nine hinges, and the other end fixes No. two grasping mechanisms; Tipper mechanical arm can overturn around the hinge axes of No. nine hinges in No. two frames, and when tipper mechanical arm is turned to original position, upward, when tipper mechanical arm is turned to final position, No. two grasping mechanisms down for No. two grasping mechanisms; The hinge axes level of No. nine hinges; The motor shaft of No. two motors is connected with tipper mechanical arm, and tipper mechanical arm can be driven to overturn around the hinge axes of No. nine hinges.
2. the robot device of circular saw bit according to claim 1, is characterized in that: No. three described hinges, No. two hinges, No. four hinges are arranged in order.
3. the robot device of circular saw bit according to claim 1, is characterized in that: a described grasping mechanism is electromagnet.
4. the robot device of circular saw bit according to claim 1, is characterized in that: No. two described grasping mechanisms are electromagnet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420586449.6U CN204183035U (en) | 2014-10-11 | 2014-10-11 | The robot device of circular saw bit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420586449.6U CN204183035U (en) | 2014-10-11 | 2014-10-11 | The robot device of circular saw bit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204183035U true CN204183035U (en) | 2015-03-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420586449.6U Expired - Fee Related CN204183035U (en) | 2014-10-11 | 2014-10-11 | The robot device of circular saw bit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204183035U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104308262A (en) * | 2014-10-11 | 2015-01-28 | 浙江创龙机器人制造有限公司 | Manipulator device for disc saw blade |
| CN106424944A (en) * | 2016-07-04 | 2017-02-22 | 简丽 | Rotary-type automatic loading and unloading and thickness detection integrated machine for grinding saw blades |
| CN106826785A (en) * | 2017-02-28 | 2017-06-13 | 南通壹选工业设计有限公司 | A kind of industry mechanical arm |
-
2014
- 2014-10-11 CN CN201420586449.6U patent/CN204183035U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104308262A (en) * | 2014-10-11 | 2015-01-28 | 浙江创龙机器人制造有限公司 | Manipulator device for disc saw blade |
| CN106424944A (en) * | 2016-07-04 | 2017-02-22 | 简丽 | Rotary-type automatic loading and unloading and thickness detection integrated machine for grinding saw blades |
| CN106424944B (en) * | 2016-07-04 | 2018-11-06 | 简丽 | A kind of saw blade is ground rotary automatic loading/unloading and Thickness sensitivity all-in-one machine |
| CN106826785A (en) * | 2017-02-28 | 2017-06-13 | 南通壹选工业设计有限公司 | A kind of industry mechanical arm |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| 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: 20150304 Termination date: 20161011 |