CN205466292U - Mechanical hand of pantographic transport - Google Patents
Mechanical hand of pantographic transport Download PDFInfo
- Publication number
- CN205466292U CN205466292U CN201620243571.2U CN201620243571U CN205466292U CN 205466292 U CN205466292 U CN 205466292U CN 201620243571 U CN201620243571 U CN 201620243571U CN 205466292 U CN205466292 U CN 205466292U
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- China
- Prior art keywords
- claw
- swing arm
- transverse arm
- arm
- hinged
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- Expired - Fee Related
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Abstract
The utility model discloses a mechanical hand of pantographic transport, including base, swing arm, swing arm drive assembly, xarm, xarm drive assembly, jack catch and jack catch drive assembly, base below symmetry sets up two swing arms, and the junction of swing arm and base sets up swing arm drive assembly, and the lower extreme symmetry of every swing arm sets up two xarms, corresponds in every swing arm to be equipped with a set of xarm drive assembly, and the end of every xarm is equipped with a jack catch, correspondingly in the xarm is equipped with a set of jack catch drive assembly. Its centre gripping method is that two swing arms elder generation symmetries are opened, then the xarm launches to swing arm both sides, and jack catch drive assembly drives earlier the jack catch and stretches out to surpassing the width of waiting to carry article, drives the hook limit of jack catch rotation to jack catch and the bottom surface parallel and level of waiting to carry the article border again, drives the jack catch shrink at last and catches on the border of waiting to carry article. This manipulator can shrink at any time and close up, and the structure is simplified and compact, small, and the removal is nimble, even also can adapt to in the constrictive place in space.
Description
Technical field
This utility model relates to product packed and transported technical field, particularly to a kind of pantographic conveying robot.
Background technology
In automatic production line, it is the most increasingly extensive that applicable industry robot carries out the carrying work such as article piling, destacking, feeding, blanking.The robot type realizing carrying function is substantially identical, but for different article profiles, robot needs supporting different mechanical hand, could smooth grasp handling article.Mechanical hand kind form is more, for being applicable to casing and the mechanical hand of plate carrying, the more form taking clamping device.
Traditional clamping manipulator, typically uses tower structure, is made up of strap, ambulatory splint and drive mechanism etc..Under air cylinder driven, ambulatory splint moves, and closes up with strap or separates, it is achieved the state clamping and loosening.The rectilinear movement action of ambulatory splint is only had during due to this kind of robot work, the most unavoidably two shortcomings of existence: one, mechanical hand overall dimensions must be bigger than object to be handled, could contain and grip object to be handled, thereby result in its mechanism huge, thus be difficult in adapt to narrow working space；Its two, mechanical hand can only adapt to the change in size in a direction (ambulatory splint rectilinear movement direction), it is difficult to adapt to the article that all change greatly of length and width size, thus its adaptability is poor.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, it is provided that a kind of flexible structure is compact, be applicable to casing or the pantographic conveying robot of flat board article clamping carrying of band flange.
The technical solution of the utility model is: a kind of pantographic conveying robot, assembly, claw and claw is driven to drive assembly including pedestal, swing arm, swing arm driving assembly, transverse arm, transverse arm, two swing arms it are symmetrical arranged below pedestal, and the junction of swing arm and pedestal arranges swing arm driving assembly, the lower end of each swing arm is symmetrical arranged two transverse arms, it is correspondingly provided with one group of transverse arm in each swing arm and drives assembly, the end of each transverse arm is provided with a claw, is correspondingly provided with one group of claw and drives assembly in transverse arm.
Described swing arm driving assembly includes motor, reductor, balance staff, bearing and gear train, balance staff has two, in the middle part of each balance staff, corresponding fixing with a swing arm is connected, the balance staff being positioned at swing arm both sides is provided with bearing, balance staff is connected with pedestal by bearing, and the outfan of motor arranges reductor, and the outfan of reductor is connected with one of them balance staff, being connected by gear train between two balance staffs, gear train is located at the end of balance staff.I.e. gear train includes that specification is identical and intermeshing two gears, and in two balance staffs, the balance staff being connected with reductor is as driving shaft, another balance staff is as driven shaft, by the drive of gear train, two balance staff synchronous axial system, thus realize two swing arms and separate simultaneously or close up.
Described swing arm includes hollow section and the auxiliary support being connected, and auxiliary support is located at bottom hollow section, arranges transverse arm and drive assembly in hollow section.
Described transverse arm drives assembly to include, and transverse arm drives cylinder, the first hinged and connecting rod, transverse arm driving cylinder is fixing with the hollow section top of swing arm to be connected, it is hinged that transverse arm drives the outfan of cylinder to be provided with first, first hinged place connects two connecting rods, each connecting rod is hinged with the transverse arm of swing arm side respectively, and it is hinged that connecting rod and the hinged place of transverse arm arrange second.When transverse arm drives cylinder action, driving corresponding two transverse arms launch or reclaim by two connecting rods, transverse arm is around the second hinged swing.
It is hinged and hinged hinged with the auxiliary support of swing arm by the 3rd that described transverse arm one end is provided with the 3rd.3rd is hinged and transverse arm is played auxiliary supporting role by auxiliary support.
Described transverse arm is slot type structure, arranges claw and drive assembly in transverse arm.
Described claw drives assembly to include claw telescopic cylinder, claw rotary cylinder, guide rail, guide rod and guide pin bushing, claw telescopic cylinder is fixing with transverse arm to be connected, the outfan of claw telescopic cylinder arranges claw rotary cylinder, the outfan of claw rotary cylinder is connected with claw by guide rod, guide rod is connected with transverse arm by guide pin bushing, and claw rotary cylinder both sides are provided with guide rail.Wherein, claw telescopic cylinder is used for driving claw to stretch out or shrinking, and makes distance between two claws adapt with the width of article to be handled.Claw rotary cylinder is used for driving claw to rotate, and makes the crochet of claw catch on the edge of article to be handled, it is achieved the stable holding to article to be handled.
Described pedestal top is provided with connection seat, and mechanical hand is by the outer welding robot of connection seat.
The clamp method of above-mentioned pantographic conveying robot, comprises the following steps:
(1) two swing arm symmetries of swing arm driving Component driver are opened, and then mechanical hand runs near article surface to be handled；
(2) transverse arm drives Component driver transverse arm to launch to swing arm both sides, forms the trabeation perpendicular with swing arm；
(3) claw drives assembly first to drive claw to extend out to exceed the width of article to be handled, claw is driven to rotate again concordant with the bottom surface at article edge to be handled to the crochet of claw, claw is finally driven to shrink, claw is made to catch on the edge of article to be handled, now, four claws of mechanical hand firmly grasp article to be handled.
In described step (2), the detailed process that transverse arm drives Component driver transverse arm to launch to swing arm both sides is: the piston rod of transverse arm driving cylinder is descending, the transverse arm being promoted the swing arm left and right sides by connecting rod hinged downwardly turns over 90 ° for fulcrum with second, makes two transverse arms form open configurations；
In described step (3), when claw drives Component driver claw to stretch out, promote claw rotary cylinder to move linearly by claw telescopic cylinder, make guide rod promote claw to forward extend out；When claw drives Component driver claw to rotate, claw rotary cylinder action, drive claw to rotate by guide rod；When claw drives Component driver claw to shrink, pull rotary cylinder by claw telescopic cylinder, make guide rod drive claw to reclaim.
This utility model, relative to prior art, has the advantages that
This telescopic conveying robot is the mechanical hand of a kind of flexible compact, it is applicable to the casing to flange and flat board article carry out clamping carrying, mechanical hand both can shrink folding, can stretch with diastole again, compared with conventional robot, this telescopic conveying robot not only compact conformation, and more can adapt to the change of article overall dimensions on a large scale, use and facilitate flexibly.
This telescopic conveying robot and clamp method thereof are by controlling opening degree and the range of extension of transverse arm of swing arm, to adapt to the overall dimensions of article to be handled, the i.e. equal scalable in length and width direction, and it adjusts flexibly and haves a wide reach.Closing up it addition, this mechanical hand can shrink at any time, structure is simplified and compact, and volume is little, mobile flexibly, even if also adapting in space-constrained place.
Accompanying drawing explanation
Fig. 1 is the structural representation of this telescopic conveying robot.
Fig. 2 is the A direction view of Fig. 1.
Fig. 3 is the swing arm folding condition figure of this telescopic conveying robot.
Fig. 4 is the clamp method schematic diagram of this telescopic conveying robot.
Fig. 5 is the B direction view of Fig. 4.
In above-mentioned each figure, 1 is connection seat, and 2 is pedestal, and 3 is gear train, 4 is bearing, and 5 is balance staff, and 6 is swing arm, and 7 drive cylinder for transverse arm, 8 is connecting rod, and 9 is second hinged, and 10 is the 3rd hinged, 11 is transverse arm, and 12 is claw telescopic cylinder, and 13 is claw rotary cylinder, 14 is guide rail, and 15 is guide rod, and 16 is guide pin bushing, 17 is claw, and 18 is first hinged, and 19 is reductor.
Detailed description of the invention
Below in conjunction with embodiment, the utility model is described in further detail, but embodiment of the present utility model is not limited to this.
Embodiment
The present embodiment one is stretched conveying robot, and article to be handled are as a example by Turnover Box.
The structure of flexible conveying robot is as shown in Figures 1 to 3, wherein Fig. 1 and Fig. 2 is folding shrinking state, Fig. 3 is swing arm deployed condition, mechanical hand is mainly driven assembly, claw and claw to drive the components such as assembly to form by pedestal, swing arm, swing arm driving assembly, transverse arm, transverse arm, assemble based on pedestal, pedestal is rectangular frame structure, and its top arranges connection seat, and mechanical hand is entirely through the wrist of the outer welding robot of connection seat.
In said structure:
(1) swing arm structure
Mechanical hand has two swing arms, is symmetrically arranged (as shown in Figure 1).The top of each swing arm is fixing with corresponding balance staff to be connected, and balance staff two ends are arranged on below pedestal by bearing.Swing arm can be around the axis rotation of balance staff.
The axle head of two balance staffs in left and right is provided with the gear of same specification, and engages each other, and two gears form gear train.
The power resources that swing arm swings, in motor, are transmitted by reductor, and the outfan of reductor directly couples left swing axle (being i.e. positioned at the balance staff in left side as driving shaft).When reductor output power, left swing axle can be driven to rotate, drive its lower swing arm to swing.Due to the engaged transmission of gear train, therefore the swing of horizontal swinging arm is carried out simultaneously, the swing that can realize separately or close up, as shown in Figure 3.
(2) cross arm structure
As in figure 2 it is shown, each swing arm a transverse arm is each side installed.Transverse arm is hinged and the 3rd hinged couple with swing arm by the second of bottom.
Transverse arm is slot type structure, and internally installed have claw telescopic cylinder and claw rotary cylinder.The cylinder seat of claw telescopic cylinder is fixed on transverse arm groove inner bottom part, and the piston rod end of claw telescopic cylinder couples claw rotary cylinder.Claw rotary cylinder can be along slide in groove.The piston rod of claw rotary cylinder is fixing with guide rod to be connected, and guide rod is slidably matched with guide pin bushing, and claw is installed in its end.
From Figure 2 it can be seen that the upper vertical in swing arm groove is provided with transverse arm drives cylinder, transverse arm drives the piston rod of cylinder hinged to couple with connecting rod by first, and connecting rod passes through second and hinged couples with transverse arm.
Clamp method and operation principle that above-mentioned telescopic conveying robot is realized be:
Mechanical hand passes through the external robot wrist of connection seat, by robotically-driven work.The swing arm of mechanical hand and transverse arm successively action successively, its process is as shown in Figure 4.Article to be handled are as a example by Turnover Box.
1) swing arm is opened.
Mechanical hand is according to length (or width) size of Turnover Box, under the driving of motor and reductor, controls swing arm opened with certain angle.Thereafter, mechanical hand is by robotically-driven close article surface to be handled.
2) transverse arm work.
The piston rod of transverse arm driving cylinder is descending, promotes horizontal swinging arm to downwardly turn over by connecting rod, hinged as fulcrum with the 3rd respectively, rotates 90 °, forms open configuration；
The piston rod of claw telescopic cylinder stretches out, and promotes the rectilinear movement of claw rotary cylinder, so that guide rod stretches to both sides respectively, makes the claw of both sides surmount the width of article to be handled；
Claw rotary cylinder action, drives claw indexing certain angle by guide rod so that it is crochet is concordant with bottom surface, casing edge；
The piston rod of claw telescopic cylinder shrinks, and pulls claw rotary cylinder, drives guide rod, so that the claw of left and right inwardly closes up, clamping casing edge；
Finally, 4 claws of mechanical hand firmly grasp casing, form state as shown in Figure 5.
Subsequently, robot just can drive mechanical hand, and casing is removed to destination.
The sequence of movement of mechanical hand release Turnover Box and each action reversed of said process.
As it has been described above, just can preferably realize this utility model, above-described embodiment is only preferred embodiment of the present utility model, is not used for limiting practical range of the present utility model；The most all impartial changes made according to this utility model content and modification, all contained by this utility model claim scope required for protection.
Claims (8)
1. a pantographic conveying robot, it is characterised in that include pedestal, swing arm, swing arm driving group
Part, transverse arm, transverse arm drive assembly, claw and claw to drive assembly, are symmetrical arranged two swing arms below pedestal,
And the junction of swing arm and pedestal arranges swing arm driving assembly, the lower end of each swing arm is symmetrical arranged two horizontal strokes
Arm, is correspondingly provided with one group of transverse arm and drives assembly in each swing arm, the end of each transverse arm is provided with a claw,
It is correspondingly provided with one group of claw in transverse arm and drives assembly.
A kind of pantographic conveying robot, it is characterised in that described swing arm
Driving assembly to include motor, reductor, balance staff, bearing and gear train, balance staff has two, in each balance staff
Corresponding the fixing with a swing arm in portion is connected, and the balance staff being positioned at swing arm both sides is provided with bearing, and balance staff passes through bearing
Being connected with pedestal, the outfan of motor arranges reductor, and the outfan of reductor is connected with one of them balance staff,
Being connected by gear train between two balance staffs, gear train is located at the end of balance staff.
A kind of pantographic conveying robot, it is characterised in that described swing arm
Including the hollow section being connected and auxiliary support, auxiliary support is located at bottom hollow section, arranges horizontal stroke in hollow section
Arm drives assembly.
A kind of pantographic conveying robot, it is characterised in that described transverse arm
Transverse arm drives cylinder, the first hinged and connecting rod to drive assembly to include, transverse arm drives the hollow section of cylinder and swing arm
Top is fixing to be connected, and it is first hinged that transverse arm drives the outfan of cylinder to be provided with, and the first hinged place connects two
Connecting rod, each connecting rod is hinged with the transverse arm of swing arm side respectively, and it is hinged that connecting rod and the hinged place of transverse arm arrange second.
A kind of pantographic conveying robot, it is characterised in that described transverse arm
It is hinged and hinged hinged with the auxiliary support of swing arm by the 3rd that one end is provided with the 3rd.
A kind of pantographic conveying robot, it is characterised in that described transverse arm
For slot type structure, claw is set in transverse arm and drives assembly.
A kind of pantographic conveying robot, it is characterised in that described claw
Driving assembly to include claw telescopic cylinder, claw rotary cylinder, guide rail, guide rod and guide pin bushing, claw stretches gas
Cylinder is fixing with transverse arm to be connected, and the outfan of claw telescopic cylinder arranges claw rotary cylinder, claw rotary cylinder
Outfan be connected with claw by guide rod, guide rod passes through guide pin bushing and is connected with transverse arm, claw rotary cylinder both sides
It is provided with guide rail.
A kind of pantographic conveying robot, it is characterised in that described pedestal
Top is provided with connection seat, and mechanical hand is by the outer welding robot of connection seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620243571.2U CN205466292U (en) | 2016-03-28 | 2016-03-28 | Mechanical hand of pantographic transport |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620243571.2U CN205466292U (en) | 2016-03-28 | 2016-03-28 | Mechanical hand of pantographic transport |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205466292U true CN205466292U (en) | 2016-08-17 |
Family
ID=56648347
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620243571.2U Expired - Fee Related CN205466292U (en) | 2016-03-28 | 2016-03-28 | Mechanical hand of pantographic transport |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205466292U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105598993A (en) * | 2016-03-28 | 2016-05-25 | 广东水利电力职业技术学院 | Scaling-type carrying manipulator and clamping method thereof |
| CN106584496A (en) * | 2017-01-18 | 2017-04-26 | 瑞安市智造科技有限公司 | Mechanical paw convenient to quickly adjust |
| CN113443417A (en) * | 2020-03-26 | 2021-09-28 | 上海紫丹印务有限公司 | Folding four-bar mechanism type clamping and rotating device |
-
2016
- 2016-03-28 CN CN201620243571.2U patent/CN205466292U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105598993A (en) * | 2016-03-28 | 2016-05-25 | 广东水利电力职业技术学院 | Scaling-type carrying manipulator and clamping method thereof |
| CN106584496A (en) * | 2017-01-18 | 2017-04-26 | 瑞安市智造科技有限公司 | Mechanical paw convenient to quickly adjust |
| CN106584496B (en) * | 2017-01-18 | 2018-11-20 | 瑞安市智造科技有限公司 | A kind of mechanical paw convenient for quickly adjusting |
| CN113443417A (en) * | 2020-03-26 | 2021-09-28 | 上海紫丹印务有限公司 | Folding four-bar mechanism type clamping and rotating device |
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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 |
Granted publication date: 20160817 Termination date: 20190328 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |