CN204295683U - A kind of two degrees of freedom mechanical arm for carrying - Google Patents

A kind of two degrees of freedom mechanical arm for carrying Download PDF

Info

Publication number
CN204295683U
CN204295683U CN201420753002.3U CN201420753002U CN204295683U CN 204295683 U CN204295683 U CN 204295683U CN 201420753002 U CN201420753002 U CN 201420753002U CN 204295683 U CN204295683 U CN 204295683U
Authority
CN
China
Prior art keywords
mechanical arm
synchronous pulley
frame
hoisting gear
degrees
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
Application number
CN201420753002.3U
Other languages
Chinese (zh)
Inventor
徐德众
王延军
徐志刚
石卓栋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Institute of Structure and Environment Engineering
Tianjin Aerospace Ruilai Technology Co Ltd
Beijing Aerostandard Technology Co Ltd
Original Assignee
Beijing Institute of Structure and Environment Engineering
Tianjin Aerospace Ruilai Technology Co Ltd
Beijing Aerostandard Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Beijing Institute of Structure and Environment Engineering, Tianjin Aerospace Ruilai Technology Co Ltd, Beijing Aerostandard Technology Co Ltd filed Critical Beijing Institute of Structure and Environment Engineering
Priority to CN201420753002.3U priority Critical patent/CN204295683U/en
Application granted granted Critical
Publication of CN204295683U publication Critical patent/CN204295683U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The utility model relates to a kind of two degrees of freedom mechanical arm for carrying, and comprises being placed in ground frame, being arranged on mechanical arm lowering or hoisting gear in described frame and mechanical arm whirligig; Described mechanical arm lowering or hoisting gear moves up and down in described frame; Described mechanical arm whirligig one end and described mechanical arm lowering or hoisting gear are fixed, and rotate around the fixed position with described mechanical arm lowering or hoisting gear, and the other end is provided with the fixture for capturing article.A kind of two degrees of freedom mechanical arm for carrying of the utility model can realize the vertical of article and level carrying easily, and can realize keeping translation in article carrying and not rotating, realizing the operations such as carrying, piling by installing different fixture, can significantly enhance productivity.

Description

A kind of two degrees of freedom mechanical arm for carrying
Technical field
The present invention relates to packing machinery technology, being specifically related to a kind of two degrees of freedom mechanical arm for carrying.
Background technology
In packing machinery technology, packaging haulage equipment is that packed article or packing material are carried out transfer carrying according to certain requirement.The bucket (bottle) often related to finished product is cased, and is carried out piling to end product packing, also can relate in article carrying placements etc. such as palletization median septums.Be by manually carrying out this kind of operation traditionally, this kind of mode labour intensity is large, to take personnel many, production efficiency is low.Or coordinate fixture complete operation by special-purpose machinery or industrial robot, but this kind of mode equipment cost is high, and adjustment difficulty is large and safeguard the defects such as complicated.
The mechanical arm for carrying in recent years market also engendered, but these are generally developed for certain packing material all specially for the mechanical arm carried, special computer for special use, cannot by changing the change of the practical functions such as fixture, and versatility is poor.
Summary of the invention
The purpose of this utility model is to provide that a kind of structure is simple, a kind of two degrees of freedom mechanical arm for carrying of convenient operating maintenance.
For solving the problems of the technologies described above, technical scheme of the present invention is: a kind of two degrees of freedom mechanical arm for carrying, and comprises being placed in ground frame, being arranged on mechanical arm lowering or hoisting gear in described frame and mechanical arm whirligig;
Described mechanical arm lowering or hoisting gear moves up and down in described frame; Described mechanical arm whirligig one end and described mechanical arm lowering or hoisting gear are fixed, and rotate around the fixed position with described mechanical arm lowering or hoisting gear, and the other end is provided with the fixture for capturing article.
Described mechanical arm lowering or hoisting gear comprises bolster, upper synchronous pulley, lower synchronous pulley, Timing Belt, mechanical arm installing plate, shaft coupling, counterweight and servomotor; Described upper synchronous pulley and lower synchronous pulley are horizontally disposed with in frame top and bottom respectively, and by bolster by bearings, upper synchronous pulley and lower synchronous pulley to be connected with counterweight by two Timing Belts and mechanical arm installing plate and to form closed loop and be wound around; Described servomotor by shaft coupling with the bolster installing lower synchronous pulley be set be connected.
Described mechanical arm whirligig is arranged on described mechanical arm installing plate, installs main shaft comprising servomotor, electric machine support, shaft coupling, rotating shaft, mechanical arm body, mechanical arm body support frame, fixing synchronous pulley, rotation synchronization belt wheel and fixture; Described servomotor is arranged on electric machine support upper end; In the middle of described mechanical arm body fitting machine mechanical arm body support frame, rotating shaft and mechanical arm body fixedly mount, and are connected by shaft coupling through after mechanical arm body support frame with described servomotor; Fixing synchronous pulley is fixed on described mechanical arm installing plate, and rotation synchronization belt wheel is arranged on mechanical arm body end and installs main shaft with described fixture and be coaxially connected, fix synchronous pulley and rotation synchronization belt take turns between adopt Timing Belt closed loop to be wound around.
Described mechanical arm lowering or hoisting gear also comprises guide rail, roller and roller mounting bracket; Roller is arranged on roller mounting bracket; Roller mounting bracket is connected with described mechanical arm installing plate; Guide rail is connected with described frame; Roller is at guide rail both sides reciprocating rolling.
Beneficial effect of the present invention: a kind of two degrees of freedom mechanical arm for carrying of the present invention can realize the vertical of article and level carrying easily, and can realize keeping translation in article carrying and not rotating, realizing the operations such as carrying, piling by installing different fixture, can significantly enhance productivity.
Accompanying drawing explanation
Fig. 1 is the Facad structure signal of a kind of two degrees of freedom mechanical arm for carrying of the present invention;
Fig. 2 is the side structure signal of a kind of two degrees of freedom mechanical arm for carrying of the present invention;
Fig. 3 is the partial enlarged drawing in I region in Fig. 2;
Fig. 4 be in Fig. 3 A-A to sectional view.
In figure: 1. frame; 2. go up synchronous pulley; 3. go up bolster; 4. riser guide; 5. mechanical arm installing plate; 6. lower support axle; 7. descend synchronous pulley; 8. shaft coupling; 9. lift servo motor; 10. roller mounting bracket; 11. rotating servo motors; 12. electric machine supports; 13. shaft couplings; 14. mechanical arm supports; 15. fixing synchronous pulleys; 16. mechanical arm bodies; 17. rotating shafts; 18. Timing Belts; 19. rotation synchronization belt wheels; 20. fixture rotating shafts; 21. Timing Belts; 22. counterweights; 23. rollers.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in detail:
As shown in Figures 1 to 4, a kind of two degrees of freedom mechanical arm for carrying of the present invention, comprising: the frame 1 being placed in ground, is arranged on the mechanical arm lowering or hoisting gear in described frame 1 and mechanical arm whirligig.
Described mechanical arm lowering or hoisting gear comprises 2 along described frame 1 vertically perpendicular to the riser guide 4 that ground is arranged, along the roller 23 that each riser guide 4 rolls, roller 23 is arranged on. and on roller mounting bracket 10, roller mounting bracket 10 is fixed on mechanical arm installing plate 5 side;
Upper synchronous pulley 2 is horizontally disposed with in frame upper end, bearings is passed through by upper bolster 3, lower synchronous pulley 7 is horizontally disposed with in frame lower end, by lower support axle 6 by bearings, 2 Timing Belts 21 are wound in synchronous pulley 2 and lower synchronous pulley 5 and form closed loop be wound around by being connected with counterweight 22 with mechanical arm installing plate 5; Described lift servo motor 9 by shaft coupling 8 with the lower support axle 6 installing lower synchronous pulley 7 be set be connected;
Described mechanical arm whirligig is arranged on described mechanical arm installing plate 5, installs main shaft 20 comprising servomotor 11, electric machine support 12, shaft coupling 13, rotating shaft 17, mechanical arm body 16, mechanical arm body support frame 14, fixing synchronous pulley 15, rotation synchronization belt wheel 19 and fixture; Described servomotor is arranged on electric machine support 12 upper end; In the middle of described mechanical arm body 16 fitting machine mechanical arm body support frame 14, rotating shaft 17 and mechanical arm body 16 fixedly mount, and are connected by shaft coupling 13 through after mechanical arm body support frame 14 with described servomotor 11; Fixing synchronous pulley 15 is fixed on described mechanical arm installing plate 5, and rotation synchronization belt wheel 19 is arranged on mechanical arm body 16 end and installs main shaft 20 with described fixture and be coaxially connected, fix synchronous pulley 11 and rotation synchronization belt take turns 19 between adopt Timing Belt 18 closed loop to be wound around;
The course of work of a kind of two degrees of freedom mechanical arm for carrying provided by the invention is as follows:
When there being article to need carrying, lift servo motor 9 operates, and drive lower synchronous pulley 7 rotate and drive Timing Belt 21 to move, driving mechanical arm installing plate 5 and mechanical arm whirligig mounted thereto move up and down; Servomotor 11 operates simultaneously, and mechanical arm body 16 is rotated, and fixture installation main shaft 20 is moved to and is handled upside down above object.Can realize while mechanical arm body 16 rotates fixture install main shaft 20 reverse, with angular speed motion, thus realize being handled upside down the translation of article.

Claims (4)

1. the two degrees of freedom mechanical arm for carrying, is characterized in that: a kind of two degrees of freedom mechanical arm for carrying, is characterized in that: comprise and be placed in ground frame, be arranged on mechanical arm lowering or hoisting gear in described frame and mechanical arm whirligig;
Described mechanical arm lowering or hoisting gear moves up and down in described frame; Described mechanical arm whirligig one end and described mechanical arm lowering or hoisting gear are fixed, and rotate around the fixed position with described mechanical arm lowering or hoisting gear, and the other end is provided with the fixture for capturing article.
2. a kind of two degrees of freedom mechanical arm for carrying as claimed in claim 1, is characterized in that: described mechanical arm lowering or hoisting gear comprises bolster, upper synchronous pulley, lower synchronous pulley, Timing Belt, mechanical arm installing plate, shaft coupling, counterweight and servomotor; Described upper synchronous pulley and lower synchronous pulley are horizontally disposed with in frame top and bottom respectively, and by bolster by bearings, upper synchronous pulley and lower synchronous pulley to be connected with counterweight by two Timing Belts and mechanical arm installing plate and to form closed loop and be wound around; Described servomotor by shaft coupling with the bolster installing lower synchronous pulley be set be connected.
3. a kind of two degrees of freedom mechanical arm for carrying as claimed in claim 1, it is characterized in that: described mechanical arm whirligig is arranged on described mechanical arm installing plate, comprising servomotor, electric machine support, shaft coupling, rotating shaft, mechanical arm body, mechanical arm body support frame, fixing synchronous pulley, rotation synchronization belt wheel and fixture, main shaft is installed; Described servomotor is arranged on electric machine support upper end; In the middle of described mechanical arm body fitting machine mechanical arm body support frame, rotating shaft and mechanical arm body fixedly mount, and are connected by shaft coupling through after mechanical arm body support frame with described servomotor; Fixing synchronous pulley is fixed on described mechanical arm installing plate, and rotation synchronization belt wheel is arranged on mechanical arm body end and installs main shaft with described fixture and be coaxially connected, fix synchronous pulley and rotation synchronization belt take turns between adopt Timing Belt closed loop to be wound around.
4. a kind of two degrees of freedom mechanical arm for carrying as claimed in claim 3, is characterized in that: described mechanical arm lowering or hoisting gear also comprises guide rail, roller and roller mounting bracket; Roller is arranged on roller mounting bracket; Roller mounting bracket is connected with described mechanical arm installing plate; Guide rail is connected with described frame; Roller is at guide rail both sides reciprocating rolling.
CN201420753002.3U 2014-12-04 2014-12-04 A kind of two degrees of freedom mechanical arm for carrying Expired - Fee Related CN204295683U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201420753002.3U CN204295683U (en) 2014-12-04 2014-12-04 A kind of two degrees of freedom mechanical arm for carrying

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201420753002.3U CN204295683U (en) 2014-12-04 2014-12-04 A kind of two degrees of freedom mechanical arm for carrying

Publications (1)

Publication Number Publication Date
CN204295683U true CN204295683U (en) 2015-04-29

Family

ID=53101261

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201420753002.3U Expired - Fee Related CN204295683U (en) 2014-12-04 2014-12-04 A kind of two degrees of freedom mechanical arm for carrying

Country Status (1)

Country Link
CN (1) CN204295683U (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105459095A (en) * 2016-01-26 2016-04-06 安徽理工大学 Three-freedom-degree series-parallel omni-directional mobile transfer robot
CN105710860A (en) * 2014-12-04 2016-06-29 北京航天斯达科技有限公司 Two-degree-of-freedom mechanical arm for transferring
CN110451257A (en) * 2019-08-12 2019-11-15 贵州大学 A kind of electronic device packing case handling machinery device and its operating method

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105710860A (en) * 2014-12-04 2016-06-29 北京航天斯达科技有限公司 Two-degree-of-freedom mechanical arm for transferring
CN105459095A (en) * 2016-01-26 2016-04-06 安徽理工大学 Three-freedom-degree series-parallel omni-directional mobile transfer robot
CN110451257A (en) * 2019-08-12 2019-11-15 贵州大学 A kind of electronic device packing case handling machinery device and its operating method

Similar Documents

Publication Publication Date Title
CN204725488U (en) A kind of four-degree-of-freedom flapping articulation robot
CN204295683U (en) A kind of two degrees of freedom mechanical arm for carrying
CN105710870A (en) Four-freedom-degree horizontal joint robot
CN203545105U (en) Double-layer rotating lifter
CN206521079U (en) A kind of stacking machine
CN202985572U (en) Rotary manipulator claw and rotary manipulator with same
CN203863736U (en) Steel-plastic composite pipe conveying device of cutting machine
CN206735293U (en) The material receiving mechanism of bottle base transloading equipment
CN103785766A (en) Carrying and stacking mechanical hand
CN103640930B (en) It is applicable to automatic transferring machine people and method of work thereof that glass unloads cylinder automatically
CN105710860A (en) Two-degree-of-freedom mechanical arm for transferring
CN203845447U (en) Intelligent moving loader
CN103538920B (en) A kind of Double-layer rotary elevator
CN202542387U (en) Steering synchronization system of multi-wheel system mobile robot
CN203486499U (en) Vertical conveyor
CN203128132U (en) Refrigerator turnover devices
CN102992032A (en) Tray type linear conveying turntable and control method of tray type linear conveying turntable
CN204588026U (en) Glass horizontal steering box
CN204525482U (en) A kind of side hanging manipulator
CN207155444U (en) A kind of glass edge-grinding machine
CN202924355U (en) Rotary lifting rolling machine
CN104944085A (en) Jacking rotating table
CN203124974U (en) Self-driving type walking lifting device
CN204358374U (en) Can planar along the magnetic base of any direction movement
CN203006274U (en) Lifting roller bed capable of rotating and moving

Legal Events

Date Code Title Description
GR01 Patent grant
C14 Grant of patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20150429

Termination date: 20191204

CF01 Termination of patent right due to non-payment of annual fee