CN205184763U - Take single armed multi -spindle machining hand of gentle and agreeable control - Google Patents
Take single armed multi -spindle machining hand of gentle and agreeable control Download PDFInfo
- Publication number
- CN205184763U CN205184763U CN201520969993.3U CN201520969993U CN205184763U CN 205184763 U CN205184763 U CN 205184763U CN 201520969993 U CN201520969993 U CN 201520969993U CN 205184763 U CN205184763 U CN 205184763U
- Authority
- CN
- China
- Prior art keywords
- camera
- pendulum
- unit
- single armed
- spindle machining
- 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.)
- Active
Links
Abstract
The utility model relates to a take single armed multi -spindle machining hand of gentle and agreeable control, which comprises a supporting frame, it is changeed the hydro -cylinder and is connected the rotary unit that the pendulum rocking arm on the pendulum changes the hydro -cylinder rotor is formed by the pendulum by the multiunit to connect gradually on the support frame, the pendulum of back single -revolution unit changes the hydro -cylinder and connects the tail end of single -revolution unit pendulum rocking arm in the front, the trailing end connection of pendulum rocking arm has the terminal hydro -cylinder that rotates on the least significant end gyration unit, install on the rotor of terminal rotation hydro -cylinder and rotate the seat, install the gripper on the rotation seat, sextuple force transducer is installed to the back tip of gripper, rotate the lateral part of seat and install the camera that is used for gathering gripper position appearance image information. The pendulum rocking arm that lies in one of them gyration unit at middle part is L type arm for straight type arm, the pendulum rocking arm that turns round the unit on other positions. The utility model has the advantages of simple structure, can realize multi -angle, multiposition operation and have gentle and agreeable control function.
Description
Technical field
The utility model relates to manipulator field, specifically a kind of single armed multi-spindle machining hand with Shared control.
Background technology
Mechanical arm is widely used on the intelligent robot of automatic production line, and it has flexible operation, repeatable accuracy advantages of higher.In manufacturing industry; a lot of at the selection of multistation, the repeated complex job such as carrying and flexible assembly towards large-mass workpiece; mechanical arm is except meeting the requirement of high accuracy, heavy load, large rigidity; also need satisfied good compliance and end static state, to guarantee the precision of operation and to protect workpiece simultaneously.
The mechanical arm of current extensive application is generally the mechanical arm of simple function, and it is generally connected with intelligent robot by bracing frame, bracing frame is installed telescopic oil cylinder or angling cylinder, cylinder piston rod installs the executing agencies such as gripper.In mass mechanized production; automaticity and operation complexity improve gradually; can be very narrow and small for the space of robot movement; the flexibility, motion redundancy degree, crawl precision etc. of manipulator are had higher requirement; utilize existing mechanical arm cannot meet the complex job requirement of producing line; need many cover mechanical arms are installed and assemble multiple attached sensing equipment, add cost and the complexity of producing line, increase maintenance difficulty.
Utility model content
The technical problems to be solved in the utility model be to provide a kind of structure simple, multi-angle, multiposition operation with the single armed multi-spindle machining hand of Shared control can be realized.
For solving the problems of the technologies described above, the single armed multi-spindle machining hand of band Shared control of the present utility model comprises bracing frame, its design feature support frame as described above is connected with many groups in turn by rotation oil cylinder be connected to the turning unit that the epitrochanterian swing arm of rotation oil cylinder forms, the rotation oil cylinder of rear single-revolution unit is connected to the tail end of last turning unit swing arm, on least significant end turning unit, the tail end of swing arm is connected with end rotational fuel tank, the rotor of end rotational fuel tank is provided with rotation seat, rotation seat is provided with gripper, the rearward end of gripper is provided with six-dimension force sensor, the sidepiece of rotation seat is provided with the camera for collection machinery pawl pose image information.
The swing arm being positioned at one of them turning unit at middle part is straight arm, and the swing arm of other position upper rotary unit is L-type arm.
Described camera is arranged in the box body of an open rearward end, and box body is connected to the sidepiece of rotation seat by Connection Block, and the opening of box body is packaged with transparency glass plate, and the camera lens of camera is just to transparency glass plate, and the front end of box body is provided with radiator fan.
Described box body is rotatably installed on Connection Block, and Connection Block is arranged on the sidewall of rotation seat by bolt.
Described Connection Block offer multiple for installing bolt and the strip through hole extended along the longitudinal direction.
Described camera is Large visual angle servo camera or trick camera.
The beneficial effects of the utility model are: utilize six-dimension force sensor to respond to the operating physical force information of arm end, camera is utilized to obtain the pose image of arm end, Comprehensive Control is carried out to each rotation oil cylinder and gripper by operating physical force information and image information two kinds of information comprehensive analysis, control more reliable, performance accuracy is higher; L-type arm achieves next turning unit and rotates in the axial direction, can carry out swing by a small margin, and the rotation of straight arm can realize the space revolution of wide-angle, increases opereating specification, and two kinds of swing arm are with the use of, flexible and convenient operation, and the scope of application is wider; Camera is arranged in box body, serves the effect of protection, avoids the working environment of manipulator to cause damage to camera; Box body adopts the structure the structure utilizing elongate holes of rotating installation, the camera lens of camera both can have been moved forward and also can rotate, wider to the acquisition range of pose image, guarantees the accuracy of information gathering, thus ensure that the requirement of performance accuracy.
In sum, the utility model have structure simple, multi-angle, multiposition operation and with the advantage of Shared control function can be realized.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail:
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the mounting structure schematic diagram of camera in the utility model.
Detailed description of the invention
With reference to accompanying drawing, the single armed multi-spindle machining hand of this band Shared control comprises bracing frame 1, bracing frame 1 is connected with many groups in turn by rotation oil cylinder 2 be connected to the turning unit that the epitrochanterian swing arm 3 of rotation oil cylinder forms, the rotation oil cylinder 2 of rear single-revolution unit is connected to the tail end of last turning unit swing arm 3, on least significant end turning unit, the tail end of swing arm 3 is connected with end rotational fuel tank 4, the rotor of end rotational fuel tank 4 is provided with rotation seat 5, rotation seat 5 is provided with gripper 6, the rearward end of gripper 6 is provided with six-dimension force sensor 7, the sidepiece of rotation seat 5 is provided with the camera 8 for collection machinery pawl pose image information.Camera 8 can adopt Large visual angle servo camera or trick camera.
In said structure, six-dimension force sensor 7 is utilized to respond to the operating physical force information of arm end, camera 8 is utilized to obtain the pose image of arm end, Comprehensive Control is carried out to each rotation oil cylinder 2 and gripper 6 by operating physical force information and image information two kinds of information comprehensive analysis, control more reliable, performance accuracy is higher.Wherein, the swing arm 3 being positioned at one of them turning unit at middle part is straight arm, and the swing arm 3 of other position upper rotary unit is L-type arm.L-type arm achieves next turning unit and rotates in the axial direction, can carry out swing by a small margin, and the rotation of straight arm can realize the space revolution of wide-angle, increase opereating specification, two kinds of swing arm with the use of, can wider operation be carried out, practical flexible, the scope of application is wider.
With reference to Fig. 2, camera 8 is arranged in the box body 9 of an open rearward end, and box body 9 is connected to the sidepiece of rotation seat 5 by Connection Block 10, the opening of box body 9 is packaged with transparency glass plate 11, the camera lens of camera 8 is just to transparency glass plate 11, and the front end of box body 9 is provided with radiator fan 12.Box body 9 is rotatably installed on Connection Block 10, and Connection Block 10 is arranged on the sidewall of rotation seat 5 by bolt.Connection Block 10 offer multiple for installing bolt and the strip through hole 13 extended along the longitudinal direction.Camera 8 is arranged in box body 9, serves the effect of protection, avoids the working environment of manipulator to cause damage to camera.The structure that box body 9 adopts rotation to install also utilizes strip to lead to the structure of 13, the camera lens of camera 8 both can have been moved forward and backward and also can rotate, wider to the acquisition range of pose image, guarantees the accuracy of information gathering, thus ensure that the requirement of performance accuracy.
In sum, the utility model is not limited to above-mentioned detailed description of the invention.Those skilled in the art, under the prerequisite not departing from spirit and scope of the present utility model, can do some changes and modification.Protection domain of the present utility model should be as the criterion with claim of the present utility model.
Claims (6)
1. the single armed multi-spindle machining hand with Shared control, comprise bracing frame (1), it is characterized in that support frame as described above (1) is connected with in turn many groups by rotation oil cylinder (2) be connected to the turning unit that the epitrochanterian swing arm of rotation oil cylinder (3) forms, the rotation oil cylinder (2) of rear single-revolution unit is connected to the tail end of last turning unit swing arm (3), on least significant end turning unit, the tail end of swing arm (3) is connected with end rotational fuel tank (4), the rotor of end rotational fuel tank (4) is provided with rotation seat (5), rotation seat (5) is provided with gripper (6), the rearward end of gripper (6) is provided with six-dimension force sensor (7), the sidepiece of rotation seat (5) is provided with the camera (8) for collection machinery pawl pose image information.
2. the single armed multi-spindle machining hand of band Shared control as claimed in claim 1, it is characterized in that the swing arm (3) of one of them turning unit being positioned at middle part is straight arm, the swing arm (3) of other position upper rotary unit is L-type arm.
3. the single armed multi-spindle machining hand of band Shared control as claimed in claim 1, it is characterized in that described camera (8) is arranged in the box body (9) of an open rearward end, box body (9) is connected to the sidepiece of rotation seat (5) by Connection Block (10), the opening of box body (9) is packaged with transparency glass plate (11), the camera lens of camera (8) is just to transparency glass plate (11), and the front end of box body (9) is provided with radiator fan (12).
4. the single armed multi-spindle machining hand of band Shared control as claimed in claim 3, it is characterized in that described box body (9) is rotatably installed on Connection Block (10), Connection Block (10) is arranged on the sidewall of rotation seat (5) by bolt.
5. the single armed multi-spindle machining hand of band Shared control as claimed in claim 4, is characterized in that described Connection Block (10) offers multiple for installing bolt and the strip through hole (13) extended along the longitudinal direction.
6. the single armed multi-spindle machining hand of the band Shared control according to any one of claim 1-5, is characterized in that described camera (8) is for Large visual angle servo camera or trick camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520969993.3U CN205184763U (en) | 2015-11-30 | 2015-11-30 | Take single armed multi -spindle machining hand of gentle and agreeable control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520969993.3U CN205184763U (en) | 2015-11-30 | 2015-11-30 | Take single armed multi -spindle machining hand of gentle and agreeable control |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205184763U true CN205184763U (en) | 2016-04-27 |
Family
ID=55777793
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520969993.3U Active CN205184763U (en) | 2015-11-30 | 2015-11-30 | Take single armed multi -spindle machining hand of gentle and agreeable control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205184763U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107263482A (en) * | 2017-07-31 | 2017-10-20 | 浩科机器人（苏州）有限公司 | A kind of blob of viscose crawl robot with visual identity function |
| CN111390948A (en) * | 2020-04-17 | 2020-07-10 | 敬科(深圳)机器人科技有限公司 | Multi-kinetic-energy mechanical arm tail end execution device with image acquisition and force feedback functions |
-
2015
- 2015-11-30 CN CN201520969993.3U patent/CN205184763U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107263482A (en) * | 2017-07-31 | 2017-10-20 | 浩科机器人（苏州）有限公司 | A kind of blob of viscose crawl robot with visual identity function |
| CN111390948A (en) * | 2020-04-17 | 2020-07-10 | 敬科(深圳)机器人科技有限公司 | Multi-kinetic-energy mechanical arm tail end execution device with image acquisition and force feedback functions |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202580477U (en) | Spiral pipe robot | |
| CN102962848A (en) | Three-degree-of-freedom parallel mechanism for wrists and shoulders of robot | |
| CN205184763U (en) | Take single armed multi -spindle machining hand of gentle and agreeable control | |
| CN106003002A (en) | Four-freedom-degree parallel serial robot | |
| CN209735883U (en) | Four-shaft mechanical arm capable of freely swinging to adjust angle of spray gun | |
| CN102380871A (en) | Double-arm manipulator for industrial production | |
| CN208914108U (en) | A kind of articulated robot | |
| CN210256123U (en) | Parallel sorting robot convenient to install | |
| CN205009250U (en) | Indicate dexterous hand more based on link mechanism | |
| CN204450265U (en) | Aerodynamic hinge clamp | |
| CN207616572U (en) | Parallel three NC axes tilter | |
| CN203092550U (en) | Three-translation freedom degree robot mechanism with near support parallelogram and far support paralleling rod | |
| CN203430520U (en) | Polar coordinate type working device | |
| CN206048249U (en) | A kind of mechanical arm for robot | |
| CN102490176A (en) | Manipulator | |
| CN205310298U (en) | Underwater manipulator with high -pressure spray wash device | |
| CN205734916U (en) | Articulated robot | |
| CN204450535U (en) | A kind of multiple degrees of freedom hydraulic mechanical arm | |
| CN103182714B (en) | A kind of mechanical arm | |
| CN103101055A (en) | Tendon type under-driving self-adaptation multi-finger device | |
| CN202964461U (en) | Single-cylinder two-rocker-arm clamping mechanism | |
| CN201244815Y (en) | Large angle rotating oil cylinder manipulator | |
| CN109849050B (en) | Hydraulic mechanical arm double-freedom-degree joint based on double cross shaft matching | |
| CN207172062U (en) | A kind of asymmetric double robot arm device | |
| CN205766116U (en) | Crossbeam frock installed by mechanical hand |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |