CN204369105U - A kind of three-dimensional all-directional feeding robot - Google Patents

A kind of three-dimensional all-directional feeding robot Download PDF

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Publication number
CN204369105U
CN204369105U CN201420866693.8U CN201420866693U CN204369105U CN 204369105 U CN204369105 U CN 204369105U CN 201420866693 U CN201420866693 U CN 201420866693U CN 204369105 U CN204369105 U CN 204369105U
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CN
China
Prior art keywords
rotary joint
dimensional
mechanical arm
cylinder
fixture
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Withdrawn - After Issue
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CN201420866693.8U
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Chinese (zh)
Inventor
夏金良
郑成新
郝明明
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SUZHOU CHAOQUN INTELLIGENT TECHNOLOGY CO., LTD.
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Preeminent Automation Equipment Co Ltd In Suzhou Industrial Park
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Abstract

The utility model discloses a kind of three-dimensional all-directional feeding robot, it comprises: fixture, the rotary joint driving described fixture to rotate, the servomotor driving described rotary joint to rotate, the mechanical arm connecting described rotary joint, the pneumatic equalizer regulating described mechanical arm to be elevated, described fixture comprises some groups of mechanical fingers, be provided with divided piston rod mechanism and some cylinders between described fixture and described rotary joint, described divided piston rod mechanism regulates the spacing between described mechanical finger by described air cylinder driven; The side of described pneumatic equalizer is provided with some oleo gears, and the direction of described oleo gear is multi-faceted.Feeding robot of the present utility model, it is by connecting rod mechanism and rotary joint and drive their propulsion source can realize the comprehensive material loading of three dimensional space, its material loading space three-dimensional three-dimensional.

Description

A kind of three-dimensional all-directional feeding robot
Technical field
The utility model belongs to toothbrush production field, and especially toothbrush handle plants a mao production field, is specifically related to a kind of three-dimensional all-directional feeding robot.
Background technology
In various fields, especially in this small piece production field of toothbrush, feeding robot accurately comprehensive, high speed material loading is the direction breaking through robotics development.Now in the art, it is generally 90 ° of adjustment that conventional feeding robot is rotated oppositely, very difficultly realizes the comprehensive material loading of three dimensional space in a limited space, and spacing between mechanical finger is unadjustable, cause a product needed for a feeding robot, cost is higher.
Therefore, need a kind of three-dimensional all-directional material loading now, and high speed feeding robot that can be general.
Utility model content
For solving the problems of the technologies described above, the purpose of this utility model is to provide a kind of three-dimensional all-directional material loading, and high speed feeding robot that can be general.
For achieving the above object, the technical solution of the utility model is as follows:
A kind of three-dimensional all-directional feeding robot, it comprises: fixture, the rotary joint driving described fixture to rotate, the servomotor driving described rotary joint to rotate, the mechanical arm connecting described rotary joint, the pneumatic equalizer regulating described mechanical arm to be elevated, described fixture comprises some groups of mechanical fingers, be provided with divided piston rod mechanism and some cylinders between described fixture and described rotary joint, described divided piston rod mechanism regulates the spacing between described mechanical finger by described air cylinder driven; The side of described pneumatic equalizer is provided with some oleo gears, and the direction of described oleo gear is multi-faceted.
Preferably, described divided piston rod mechanism comprises some groups of connecting straps, often organizes connecting strap and comprises connecting strap one and connecting strap two, often organizes mechanical finger and comprises mechanical finger one and mechanical finger two; Described connecting strap one is provided with U-type groove, described connecting strap one is fixedly connected with mechanical finger one, described connecting strap two is fixedly connected with mechanical finger two, described connecting strap one is connected by described U-type groove with connecting strap two, described connecting strap one is fixed on described fixture, and described connecting strap two connects cylinder one.
Preferably, described divided piston rod mechanism also comprises: connecting panel one, the connecting panel two being individually fixed in described connecting panel one both sides and positioning plate, described connecting panel two is connected with catch two, the bottom surface of described connecting panel two is connected with cylinder two, the cylinder arm of described cylinder two is connected with catch one, when described cylinder two promotes catch for the moment, described positioning plate is used for spacing to catch one; Described cylinder one be arranged on the side of described cylinder two and described cylinder one also in the bottom surface of described connecting panel one.
Preferably, also comprise one piece of contiguous block, described contiguous block is arranged on the surface of described connecting panel one, and described contiguous block is for being connected to described rotary joint by described fixture detouchable.
Preferably, described rotary joint is 90 ° of rotary joints, and described rotary joint is connected with piston crank mechanism, is connected described fixture by described rotary joint with piston crank mechanism detouchable.
Preferably, described mechanical arm comprises mechanical arm one and mechanical arm two, and described mechanical arm one and mechanical arm two are set-located by rotating shaft, and described mechanical arm two drives its relatively described mechanical arm one motion by described pneumatic equalizer, realizes the lifting of described mechanical arm.
Preferably, described pneumatic equalizer is cylinder.
Preferably, also comprise displacement pipe link, one end of described displacement pipe link connects described mechanical arm one, and the other end of described displacement pipe link can be connected with feeder by connection sliding block.
The beneficial effects of the utility model are:
One, feeding robot of the present utility model, it is by connecting rod mechanism and rotary joint and drive their propulsion source can realize the comprehensive material loading of three dimensional space, its material loading space three-dimensional three-dimensional.
Two, the utility model promotes divided piston rod mechanism by cylinder, the spacing realized between mechanical finger by the U-type groove connecting strap on connecting rod mechanism is regulated, comprehensive high-speed material spacing when namely realizing material loading, can use for different material types, different feed mechanisms, feeding robot commonality is improved.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the utility model embodiment technology, be briefly described to the accompanying drawing used required in the description of embodiment technology below, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the lateral plan of Fig. 1.
Fig. 3 is the structural representation of fixture and divided piston rod mechanism in the utility model.
Fig. 4 is the lateral plan of Fig. 3.
Fig. 5 is the structural representation that in the utility model, divided piston rod mechanism regulates mechanical finger.
Wherein, 10-mechanical arm one, 20-rotating shaft, 30-mechanical arm two, 40-rotary joint, 50-pneumatic equalizer, 60-displacement pipe link, 70-fixture, 501-oleo gear, 701-mechanical finger, 7011-catch one, 7012-catch two, 7013-mechanical finger one, 7014-mechanical finger, 702-divided piston rod mechanism, 7021-connecting strap one, 7022-connecting strap two, 7023-U type groove, 703-cylinder one, 704-cylinder two, 705-contiguous block, 706-connecting panel one, 707-limiting stopper, 708-connecting panel two.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
Embodiment 1
As shown in figs. 1-2, disclose a kind of three-dimensional all-directional feeding robot in the present embodiment, it comprises: fixture 70, rotary joint 40, mechanical arm, displacement pipe link 60.
Mechanical arm comprises mechanical arm 1 and mechanical arm 2 30, above-mentioned mechanical arm 1 and mechanical arm 2 30 are set-located by rotating shaft 30, above-mentioned mechanical arm 2 30 drives its relatively above-mentioned mechanical arm 1 to move by a pneumatic equalizer 50, namely realizes the lifting of above-mentioned mechanical arm.
In the present embodiment, in order to ensure that its lifting is more steady, above-mentioned pneumatic equalizer 50 adopts cylinder, in other embodiments, can also select other propulsion source, not be restricted here.
One end being connected to mechanical arm 1 of above-mentioned displacement pipe link 60 connects above-mentioned mechanical arm 1, the other end of above-mentioned displacement pipe link 60 can be connected with feeder by connection sliding block, above-mentioned displacement pipe link 60 adds and drives the power of slide block that whole robot can be realized to be shifted, and is convenient to move in feeding process.
Above-mentioned rotary joint 40 junctor mechanical arm 2 30 and fixture 70, further, in the present embodiment, above-mentioned rotary joint is 90 ° of rotary joints, above-mentioned rotary joint 40 is also connected with piston crank mechanism, is connected above-mentioned fixture by above-mentioned rotary joint 40 with piston crank mechanism detouchable.
Above-mentioned rotary joint 40 is together with piston crank mechanism, and the servomotor combined action driving it to rotate realizes the comprehensive material loading of above-mentioned robot three-dimensional, and in above-mentioned robot, be also provided with several oleo gears 501, the direction of above-mentioned oleo gear 501 is multi-faceted, in rotary course, buffer action is played in each direction, realize Based Intelligent Control, high speed all material loading.
As shown in Figure 3-4, above-mentioned fixture 70 comprises some groups of mechanical fingers 701, divided piston rod mechanism 702 and some cylinders is provided with between above-mentioned fixture 70 and above-mentioned rotary joint 40, combinations thereof formula connecting rod mechanism 702 regulates the spacing between above-mentioned mechanical finger 701 by above-mentioned air cylinder driven, and above-mentioned cylinder mainly cylinder 1 and cylinder 2 704 completes respectively.
As shown in Figure 5, combinations thereof formula connecting rod mechanism 702 comprises some groups of connecting straps, often organizes connecting strap and comprises connecting strap 1 and connecting strap 2 7022, often organizes mechanical finger 701 and comprises mechanical finger 1 and mechanical finger 2 7014; Above-mentioned connecting strap 1 is provided with U-type groove 7023, above-mentioned connecting strap 1 is fixed together with mechanical finger 1, above-mentioned connecting strap 2 7022 is fixed together with mechanical finger 2 7014, and, connected by above-mentioned U-type groove 7023 between above-mentioned connecting strap 1 and connecting strap 2 7022, above-mentioned connecting strap 1 is fixed on above-mentioned fixture 70, and above-mentioned connecting strap 2 7022 connects cylinder 1.
Namely the movement relation between above-mentioned connecting strap 1 and connecting strap 2 7022 is: connecting strap 1 is fixing, connecting strap 2 7022 drives its motion by cylinder 1, realize the spacing change between them by U-type groove 7023 between them, thus have adjusted the spacing between mechanical finger one and mechanical finger two.
As shown in Figure 4, combinations thereof formula connecting rod mechanism also comprises: connecting panel 1, be individually fixed in connecting panel 2 708 and the positioning plate 707 of above-mentioned connecting panel 1 both sides, above-mentioned connecting panel 2 708 is connected with catch 2 7012, the bottom surface of above-mentioned connecting panel 2 7012 is connected with cylinder 2 704, the cylinder arm of above-mentioned cylinder 2 704 is connected with catch 1, when can promote catch 1 when the cylinder arm of above-mentioned cylinder 2 704 stretches out, namely the spacing realized between catch 1 and catch 7012 regulates, not above-mentioned positioning plate 707 plays position-limiting action to catch 1, anti-stop tab 1 excessively regulates, cause during toothbrush handle material loading and be scattered.
Above-mentioned cylinder 1 is arranged on the side of above-mentioned cylinder 2 704, and above-mentioned cylinder, 703 also in the bottom surface of above-mentioned connecting panel 1; And be also provided with a contiguous block 705 on the surface of above-mentioned connecting panel 1, above-mentioned contiguous block 705 is for being connected to above-mentioned rotary joint 40 by above-mentioned fixture 70 detouchable.
The spacing between mechanical finger is regulated by divided piston rod mechanism in the utility model, thus fixture can be used for different feed mechanism, the principle of its spacing is: regulated by the spacing between the spacing between adjustment mechanical finger realizes toothbrush handle; The material loading adapting to different length toothbrush handle is realized by regulating the spacing between catch one and catch two.
Wherein, the action of the spacing (spacing between mechanical finger) between above-mentioned adjustment toothbrush handle: connecting strap 1 is fixing, connecting strap 2 7022 drives its motion by cylinder 1, realize the spacing change between them by U-type groove 7023 between them, thus have adjusted the spacing between mechanical finger one and mechanical finger two.
The action of the spacing between above-mentioned adjustment catch one and catch two: catch two is fixed on connecting panel one by connecting panel two, catch one drives it to move by the cylinder arm of cylinder two is flexible, namely catch two is fixing, catch two is unfixed, thus have relative motion between the two, but adapt to the toothbrush handle material loading of different length by spacing change therebetween.
The utility model promotes divided piston rod mechanism by cylinder, the spacing realized between mechanical finger by the U-type groove connecting strap on connecting rod mechanism is regulated, comprehensive high-speed material spacing when namely realizing material loading, can use for different material types, different feed mechanisms, feeding robot commonality is improved.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the utility model.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein when not departing from spirit or scope of the present utility model, can realize in other embodiments.Therefore, the utility model can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.

Claims (8)

1. a three-dimensional all-directional feeding robot, it comprises: fixture, the rotary joint driving described fixture to rotate, the servomotor driving described rotary joint to rotate, the mechanical arm connecting described rotary joint, the pneumatic equalizer regulating described mechanical arm to be elevated, it is characterized in that, described fixture comprises some groups of mechanical fingers, be provided with divided piston rod mechanism and some cylinders between described fixture and described rotary joint, described divided piston rod mechanism regulates the spacing between described mechanical finger by described air cylinder driven; The side of described pneumatic equalizer is provided with some oleo gears, and the direction of described oleo gear is multi-faceted.
2. a kind of three-dimensional all-directional feeding robot according to claim 1, it is characterized in that, described divided piston rod mechanism comprises some groups of connecting straps, often organizes connecting strap and comprises connecting strap one and connecting strap two, often organizes mechanical finger and comprises mechanical finger one and mechanical finger two; Described connecting strap one is provided with U-type groove, described connecting strap one is fixedly connected with mechanical finger one, described connecting strap two is fixedly connected with mechanical finger two, described connecting strap one is connected by described U-type groove with connecting strap two, described connecting strap one is fixed on described fixture, and described connecting strap two connects cylinder one.
3. a kind of three-dimensional all-directional feeding robot according to claim 2, it is characterized in that, described divided piston rod mechanism also comprises: connecting panel one, the connecting panel two being individually fixed in described connecting panel one both sides and positioning plate, described connecting panel two is connected with catch two, the bottom surface of described connecting panel two is connected with cylinder two, the cylinder arm of described cylinder two is connected with catch one, and when described cylinder two promotes catch for the moment, described positioning plate is used for spacing to catch one; Described cylinder one be arranged on the side of described cylinder two and described cylinder one also in the bottom surface of described connecting panel one.
4. a kind of three-dimensional all-directional feeding robot according to claim 3, it is characterized in that, also comprise one piece of contiguous block, described contiguous block is arranged on the surface of described connecting panel one, and described contiguous block is for being connected to described rotary joint by described fixture detouchable.
5. a kind of three-dimensional all-directional feeding robot according to claim 4, it is characterized in that, described rotary joint is 90 ° of rotary joints, and described rotary joint is connected with piston crank mechanism, is connected described fixture by described rotary joint with piston crank mechanism detouchable.
6. a kind of three-dimensional all-directional feeding robot according to claim 1, it is characterized in that, described mechanical arm comprises mechanical arm one and mechanical arm two, described mechanical arm one and mechanical arm two are set-located by rotating shaft, described mechanical arm two drives its relatively described mechanical arm one motion by described pneumatic equalizer, realizes the lifting of described mechanical arm.
7. a kind of three-dimensional all-directional feeding robot according to claim 6, is characterized in that, described pneumatic equalizer is cylinder.
8. a kind of three-dimensional all-directional feeding robot according to claim 7, is characterized in that, also comprise displacement pipe link, and one end of described displacement pipe link connects described mechanical arm one, and the other end of described displacement pipe link can be connected with feeder by connection sliding block.
CN201420866693.8U 2014-12-31 2014-12-31 A kind of three-dimensional all-directional feeding robot Withdrawn - After Issue CN204369105U (en)

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Application Number Priority Date Filing Date Title
CN201420866693.8U CN204369105U (en) 2014-12-31 2014-12-31 A kind of three-dimensional all-directional feeding robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201420866693.8U CN204369105U (en) 2014-12-31 2014-12-31 A kind of three-dimensional all-directional feeding robot

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CN204369105U true CN204369105U (en) 2015-06-03

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104670894A (en) * 2014-12-31 2015-06-03 苏州工业园区超群自动化设备有限公司 Full three-dimensional feeding robot
CN108033346A (en) * 2017-12-08 2018-05-15 大连佳林设备制造有限公司 Robot volume class pneumatic vertical suspender

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104670894A (en) * 2014-12-31 2015-06-03 苏州工业园区超群自动化设备有限公司 Full three-dimensional feeding robot
CN108033346A (en) * 2017-12-08 2018-05-15 大连佳林设备制造有限公司 Robot volume class pneumatic vertical suspender

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GR01 Patent grant
C56 Change in the name or address of the patentee
CP03 Change of name, title or address

Address after: 215105, Lake Bridge Road, Lake Town, Suzhou, Jiangsu, Wuzhong District 588, China

Patentee after: SUZHOU CHAOQUN INTELLIGENT TECHNOLOGY CO., LTD.

Address before: 215123 Jiangsu Province, Suzhou City Industrial Park Loufeng East Industrial Zone Partition

Patentee before: The preeminent automation equipment Co., Ltd in Suzhou Industrial Park

AV01 Patent right actively abandoned
AV01 Patent right actively abandoned

Granted publication date: 20150603

Effective date of abandoning: 20170517