CN205466172U - Multi -arm machinery hand - Google Patents

Abstract

The utility model discloses a multi -arm machinery hand, including workstation, base and robot bridge, robot bridge sets up on the base, and robot bridge from the top down has set gradually qu liao manipulator, the mechanical hand of operation and pay -off machinery hand, the mechanical hand of quliao manipulator and pay -off with tail end and robot bridge between be connected through rotary part, the end of fixed who operates mechanical hand on robot bridge, the workstation sets up on the base next door, and base and workstation periphery are provided with the round to be close to circular shape spare part and to place the platform, qu liao manipulator, pay -off machinery hand and operate mechanical hand and all include vertical flexible arm and the level arm that stretches out and draws back. The utility model discloses a multi -arm machinery hand gets the material, the pay -off AND operation goes on simultaneously, and whole assembly line is accomplished by the manipulator, improves work efficiency.

Description

A kind of multi-arm mechanical hand

Technical field

This utility model relates to a kind of multi-arm mechanical hand.

Background technology

Mechanical hand is widely used in multiple field, progressively replacing part manual operation, reducing work due to its motility Cost and Labor Risk.In actual applications, mechanical hand needs each parts are carried out feeding in the posies such as assembling, places At Working position, after machining, the workpiece processed is taken out again and enters next process by mechanical hand, in prior art, Although the use that single arm robot is on a production line has simple in construction, joint space-efficient advantage, but the high efficiency of can not meet Production, multi-arm mechanical hand takies again too much space, inharmonic situation also can usually occurs.

Utility model content

(1) to solve the technical problem that

For solving the problems referred to above, the utility model proposes a kind of multi-arm mechanical hand.

(2) technical scheme

Multi-arm mechanical hand of the present utility model, including workbench, base and machinery hand cradle, described mechanical hand frame is arranged on the end On seat, described machinery hand cradle is disposed with reclaimer robot, manipulator and feeding mechanical hand, described feeding from top to bottom Being connected by rotary part between the tail end of mechanical hand and feeding mechanical hand with machinery hand cradle, the tail end of described manipulator is solid Being scheduled in machinery hand cradle, described workbench is arranged on base side, described base and workbench periphery and is provided with a circle close to circle The parts mounting table of shape.

Further, described reclaimer robot, feeding mechanical hand and manipulator all include vertical telescopic arm and level Telescopic arm.

Further, described feeding mechanical hand lower end is provided with first servomotor, and reclaimer robot upper end is arranged Having second servomotor, manipulator side is provided with the 3rd servomotor, and the first servomotor, second watches Take motor and the 3rd servomotor connects the rotary part of feeding mechanical hand, reclaimer robot and manipulator, level respectively Telescopic arm and vertical telescopic arm.

Further, described vertical telescopic arm lower end is provided with sucker or mechanical finger etc..

Further, it is provided with movable part, sucker or mechanical hand between described vertical telescopic arm and horizontal extension arm Refer to be also equipped with movable part between vertical telescopic arm.

Further, it is provided with stuck alarm at the rotary part of described reclaimer robot.

Further, controller, described controller connecting sucker or mechanical finger, card undeliverable telegram it are provided with in described base Alert device, extensible member, the first servomotor, the second servomotor and the 3rd servomotor.

(3) beneficial effect

Compared with prior art, it has the advantages that multi-arm mechanical hand of the present utility model to this utility model, Using and dissipate arm combination, feeding, feeding and operation are carried out simultaneously, use arm for taking material to rotate feeding, it is to avoid the conveyer belt on streamline Problem causes faulty operation.

Accompanying drawing explanation

In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below will be to embodiment Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, the accompanying drawing in describing below is only It is embodiments more of the present utility model, for those of ordinary skill in the art, in the premise not paying creative work Under, it is also possible to other accompanying drawing is obtained according to these accompanying drawings.

Fig. 1 is structural representation of the present utility model.

1-workbench 2-base 3-machinery hand cradle 4-reclaimer robot 5-manipulator 6-feeding mechanical hand 8- Parts mounting table 9-vertical telescopic arm 10-horizontal extension arm 11-the first servomotor 12-the second servomotor 13- Three servomotor 14-suckers or mechanical finger 15-controller.

Detailed description of the invention

A kind of multi-arm mechanical hand, including workbench 1, base 2 and machinery hand cradle 3, described machinery hand cradle 3 Being arranged on base 2, described machinery hand cradle 3 is disposed with reclaimer robot 4, manipulator 5 and feeder from top to bottom Tool hands 6, is connected by rotary part 7 between the tail end of described reclaimer robot 4 and feeding mechanical hand 6 with machinery hand cradle 3, described The tail end of manipulator 5 is fixed in machinery hand cradle 3, and described workbench 1 is arranged on base 2 side, described base 2 and work Platform 1 periphery is provided with a circle and connects rotund parts mounting table 8.

Described feeding machinery 4 handss, feeding mechanical hand 6 and manipulator 5 all include vertical telescopic arm 9 and horizontal extension arm 10。

Described feeding mechanical hand 6 lower end is provided with first servomotor 11, and reclaimer robot 4 upper end is provided with one Second servomotor 12, manipulator 5 side is provided with the 3rd servomotor 13, and the first servomotor 11, second Servomotor 12 and the 3rd servomotor 13 connect feeding mechanical hand 6, reclaimer robot 4 and the rotation of manipulator 5 respectively Parts, horizontal extension arm 10 and vertical telescopic arm 9.

Described vertical telescopic arm 9 lower end is provided with sucker or mechanical finger 14 etc..

Be provided with movable part between described vertical telescopic arm 9 and horizontal extension arm 10, sucker or mechanical finger 14 with Vertically it is also equipped with movable part between telescopic arm 9.

It is provided with stuck alarm at the rotary part of described reclaimer robot 4.

Be provided with controller 15 in described base 2, described controller 5 connecting sucker or mechanical finger, stuck alarm, Extensible member, the first servomotor the 11, second servomotor 12 and the 3rd servomotor 13.

Multi-arm mechanical hand of the present utility model, has a following useful fruit: multi-arm mechanical hand of the present utility model, makes in input Used time, parts are placed on parts mounting table in order, and parts are processed by manipulator on the table Assembling, reclaimer robot is controlled rotary part according to setting program by controller, rotates an angle every time, controls two simultaneously Flexible and the activity of mechanical finger of telescopic arm, captures and needs parts to deliver to workbench, and the task of reclaimer robot is by Workpiece through having assembled is sent workbench, feeding, feeding and operation and is carried out in order simultaneously, improves work efficiency, and can It is prevented effectively from the situation of maloperation in prior art.

Embodiment described above is only to be described preferred implementation of the present utility model, not to this practicality Novel spirit and scope are defined.On the premise of without departing from this utility model design concept, this area ordinary person couple Various modification that the technical solution of the utility model is made and improvement, all should drop into protection domain of the present utility model, this reality With the novel technology contents being claimed, all record in detail in the claims.

Claims (6)

1. a multi-arm mechanical hand, it is characterised in that: including workbench, base and machinery hand cradle, described mechanical hand frame is arranged on On base, described machinery hand cradle be disposed with reclaimer robot, manipulator and feeding mechanical hand from top to bottom, described in take It is connected by rotary part between the tail end of material mechanical hand and feeding mechanical hand with machinery hand cradle, the tail end of described manipulator Being fixed in machinery hand cradle, described workbench is arranged on base side, described base and workbench periphery, and to be provided with a circle close Circular parts mounting table.

Multi-arm mechanical hand the most according to claim 1, it is characterised in that: described reclaimer robot, feeding mechanical hand and behaviour Make mechanical hand and all include vertical telescopic arm and horizontal extension arm.

Multi-arm mechanical hand the most according to claim 1, it is characterised in that: described feeding mechanical hand lower end is provided with one One servomotor, reclaimer robot upper end is provided with second servomotor, and manipulator side is provided with one the 3rd Servomotor, and the first servomotor, the second servomotor and the 3rd servomotor connect respectively feeding mechanical hand, feeding machinery Hands and the rotary part of manipulator, horizontal extension arm and vertical telescopic arm.

Multi-arm mechanical hand the most according to claim 2, it is characterised in that: described vertical telescopic arm lower end be provided with sucker or Person's mechanical finger.

Multi-arm mechanical hand the most according to claim 2, it is characterised in that: between described vertical telescopic arm and horizontal extension arm It is provided with between movable part, sucker or mechanical finger and vertical telescopic arm and is also equipped with movable part.

Multi-arm mechanical hand the most according to claim 1, it is characterised in that: arrange at the rotary part of described reclaimer robot There is stuck alarm.