CN205734922U - One is two-way fetches and delivers robot device - Google Patents
One is two-way fetches and delivers robot device Download PDFInfo
- Publication number
- CN205734922U CN205734922U CN201620560658.2U CN201620560658U CN205734922U CN 205734922 U CN205734922 U CN 205734922U CN 201620560658 U CN201620560658 U CN 201620560658U CN 205734922 U CN205734922 U CN 205734922U
- Authority
- CN
- China
- Prior art keywords
- finger
- ball
- cam
- case
- screw
- 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.)
- Withdrawn - After Issue
Links
Landscapes
- Manipulator (AREA)
Abstract
One is two-way fetches and delivers robot device, including ball-screw, ball spline, mechanical finger, it is characterized in that, also include slide bar, spring, support case, cam, support the hole having two axis parallel on case, one hole is fixing with ball-screw screw to be connected, and another hole is fixing with ball spline outer ring to be connected, and lead screw shaft is parallel with splined shaft；Front finger is fixed on two the slide bar upper ends supporting case front end, rear finger is fixed on two the slide bar upper ends supporting box back, cam is fixed on the spline mother of ball spline, a rolling bearing it is separately installed with bottom front finger and rear finger, two rolling bearings are corresponding with two protruding positions on cam, and spring housing is connected on the slide bar supporting bottom portion.This utility model, by the repeatedly translation of two mechanical hands, alternately lifting, uses push-and-pull two ways to move object, and this apparatus structure is compact, volume is little, it is possible to utilize less mobile space to realize the object shifting of relatively long distance.
Description
Technical field
This utility model relates to a kind of robot device, particularly relates to a kind of two-way for goods-shelf type access automaton
Fetch and deliver robot device.
Background technology
At present, along with the extensive application of automated system, mechanical hand is requisite in automation equipment, it is possible to replace
People makees a few thing, saves the time, reduce people by labor intensity, function and cost performance, approved by increasing user.
The mechanical hand of existing way moving, when taking or send object, is all to take transport action by once hook to complete.This
Planting method of shipment needs this body length of mechanical hand more than taken object, takes the distance moved in direction more than to hook the thing taken along hooking
Body, could take out object and be transferred to target location.There is shortcoming in such mechanical hand: shared space is more than being taken
More than 2 times of object length, huge structure, space availability ratio is the highest.
Utility model content
The purpose of this utility model is for the deficiencies in the prior art, it is provided that one is two-way fetches and delivers robot device, passes through
The repeatedly translation of two mechanical hands, alternately lifting, use push-and-pull two ways to move object, this apparatus structure is compact,
Volume is little, it is possible to utilize less mobile space to realize the object shifting of relatively long distance.
For achieving the above object, this utility model realizes by the following technical solutions:
One is two-way fetches and delivers robot device, including ball-screw, ball spline, mechanical finger, also includes slide bar, bullet
Spring, support case, cam, support the hole having two axis parallel on case, and a hole is fixing with the screw of ball-screw to be connected, another hole
Fixing with the outer ring of ball spline and be connected, lead screw shaft is parallel with splined shaft；Four slide bars are arranged on and support at four end angles of case
Being connected with supporting case by sliding bearing, mechanical finger includes that front finger and rear finger, front finger and rear finger are oppositely arranged, front
Finger is fixed on the upper end of two slide bars supporting case front end, and rear finger is fixed on the upper end of two slide bars supporting box back,
Cam and ball spline shaft are coaxially disposed and are fixed on the spline mother of ball spline, in the bottom of front finger and rear finger respectively
Being provided with a rolling bearing, two rolling bearings are corresponding with two protruding positions on cam, and spring housing is connected on support
On the slide bar in bottom portion, one end apical grafting supports case, other end apical grafting slide bar end cap.
Described cam includes lordosis, rear convex, adapter sleeve, lordosis and rear convex being oppositely arranged, arranged in dislocation, lordosis and rear convex it
Between connect by adapter sleeve is fixing.
Compared with prior art, the beneficial effects of the utility model are:
One is two-way fetches and delivers robot device, by the repeatedly translation of two mechanical hands, alternately lifting, uses push-and-pull two kinds
Object is moved by mode, and this apparatus structure is compact, volume is little, it is possible to utilize less mobile space to realize relatively long distance
Object shifting.
Accompanying drawing explanation
Fig. 1 is a kind of two-way overall structure schematic diagram fetching and delivering robot device of this utility model；
Fig. 2 is that this utility model one is two-way fetches and delivers robot device bottom, cross-sectional view；
Fig. 3 is this utility model cam scheme of installation on ball spline；
Fig. 4 is the structural representation of ball spline；
Fig. 5 is the structural representation of ball-screw；
Fig. 6 is that in this utility model, two mechanical fingers coordinate the structural representation installed.
In figure: the dead slot of finger, 3-ball-screw, 3-after finger, 2-1 after finger L-shaped part, 2-before finger, 1-1 before 1-
1 screw, 4-ball spline, 4-1 splined shaft, 4-2 spline mother, 4-3 spline outer ring, 5-slide bar, 7-spring, 8-support case, 9-rolling
Dynamic bearing.
Detailed description of the invention
Below in conjunction with the accompanying drawings embodiment of the present utility model is further illustrated:
As shown in figs 1 to 6, one is two-way fetches and delivers robot device, including ball-screw 3, ball spline 4, mechanical hand
Refer to, also include slide bar 5, spring 7, support case 8, cam 6, support the hole having two axis parallel on case 8, a hole and ball-screw
Screw 3-1 fixing connect, another hole is fixed with the outer ring 4-3 of ball spline and is connected, and lead screw shaft is parallel with splined shaft；Four cunnings
Bar 5 is arranged on to support and is connected with supporting case 8 by sliding bearing at four of case 8 end angles, mechanical finger include front finger 1 with after
Finger 2, front finger 1 and rear finger 2 be oppositely arranged, and front finger 1 is fixed on the upper end of two slide bars 5 supporting case 8 front end, defensive position
Referring to 2 upper ends being fixed on two slide bars 5 supporting case 8 rear end, cam 6 and ball spline shaft 4-1 are coaxially disposed and are fixed on rolling
On the spline mother 4-2 of spline, it is separately installed with a rolling bearing 9, two rollings in the bottom of front finger 1 and rear finger 2
Bearing 9 is corresponding with two protruding positions on cam 6, and spring 7 is socketed on the slide bar 5 supported bottom case 8, one end apical grafting
Support case 8, the bottom head covers of other end apical grafting slide bar 5.
Seeing that Fig. 3, Fig. 4, described cam 6 include lordosis 6-1, rear convex 6-3, adapter sleeve 6-2, lordosis 6-1 is relative with rear convex 6-3
Arrange, arranged in dislocation, connect by adapter sleeve 6-2 is fixing between lordosis 6-1 and rear convex 6-3.
The internal diameter of the lordosis 6-1 diameter than splined shaft 4-1 is slightly larger, is provided with and matches with spline mother 4-2 on lordosis 6-1
Bolt hole, lordosis 6-1 is connected by bolt is fixing with spline mother 4-2, is lordosis 6-1 and spline mother 4-2 assembling in the middle of rear convex 6-3
Bolt slot milling.
Seeing that Fig. 6, one end of front finger 1 are provided with two little hooks raised up for hooking or promote workpiece, the other end sets
It is calculated as narrow thin L-shaped 1-1, is provided with the dead slot 2-that L-shaped part 1-1 with front finger 1 matches in the corresponding position of rear finger 2
1, L-shaped part 1-1 of front finger 1 is just embedded in the dead slot 2-1 of rear finger 2.In the bottom surface of L-shaped part 1-1, rolling is installed
Dynamic bearing 9, is also provided with rolling bearing 9 in the bottom surface of rear finger 2, and two rolling bearings 9 are coaxially disposed, two rolling bearings 9
Spacing identical with the spacing of rear convex 6-3 with the lordosis 6-1 on cam 6.
The other end at rear finger 2 also is provided with two little hooks raised up for hooking or promoting workpiece.
When two mechanical fingers are assembled to support on case 8, the position of rolling bearing 9 and lordosis 6-on two mechanical fingers
1 and rear convex 6-3 is the most right.When cam 6 makes lordosis 6-1, rear convex 6-3 be alternately rotated top along with the rotation of splined shaft 4-1,
The rolling bearing 9 relative with oneself position can be rolled jack-up by the convex 6-3 of lordosis 6-1 or rear, finger 4 or rear 2 liters of finger before driving
Rise.Rolling bearing 9 makes sliding friction become rolling friction, reduces equipment attrition, and the precision making equipment operation is higher.
Pocketed springs 7 on the slide bar 5 supporting bottom case 8, the bottom of slide bar 5 is bolted with the end cap being relatively large in diameter, spring 7
One end apical grafting support case 8, the end cap bottom other end apical grafting slide bar 5, when the convex 6-3 of lordosis 6-1 or rear rotates to lower section, front
Finger 1 or rear finger 2 can dip under the elastic force effect of spring 7.
The two ends of ball-screw 3 connect driving motor, drive ball-screw 3 to rotate, and make the screw 3-1 on leading screw drive and prop up
Support case 8 transverse shifting.The two ends of ball spline shaft 4-1 also connect driving motor, drive splined shaft 4-1 to rotate, and drive spline female
Cam 6 on 4-2 rotates, by the convex 6-3 of lordosis 6-1 or rear by front finger 1 or rear finger 2 jack-up.
A kind of use the two-way method fetching and delivering robot device travelling workpiece, by alternately rising of front finger 1 and rear finger 2
Rise, change position push-and-pull workpiece, by the short-range transverse shifting of mechanical hand, it is achieved the distance of workpiece is transferred, specifically side
Method is as follows:
1) cam 6 horizontal (the most convex be in horizontal level), front finger 1 and rear finger 2, all in down position, pass through
Front finger 1 is transferred to bottom workpiece by rotation ball leading screw 3, drives ball spline shaft 4-1 to rotate, the lordosis on band moving cam 6
6-1 rises front finger 1 jack-up, and front finger 1 hooks and takes workpiece, drives ball-screw 3 to rotate, under the drive of screw 3-1 laterally
Travelling workpiece；
The two-way robot device of fetching and delivering of one of the present utility model is applicable to goods-shelf type automatic access device, the work fetched and delivered
Part is placed on the track of goods-shelf type, fetches and delivers along track transverse shifting.
2) time by Workpiece transfer to certain position, ball-screw 3 stops operating, and ball spline shaft 4-1 rotates, and cam 6 is flat
Putting, front finger 1 falls, and workpiece rests in shelf rail, drives ball-screw 3 to reversely rotate, by rear finger 2 from workpiece
Side moves to workpiece front end, drives ball spline shaft 4-1 to rotate, and makes the rear convex 6-3 on cam 6 rise rear finger 2 jack-up, front
Finger 1 falls, and drives ball-screw 3 to rotate forward, and rear finger 2 promotes workpiece to continue to move to until arriving target location.
A kind of two-way robot device of fetching and delivering of the present utility model can use the operation contrary with above-mentioned steps to complete thing
The reciprocal transfer of body.Due to this utility model use the translation back and forth of front finger 1 and rear finger more than 2 time object is drawn with
The mode alternately that pushes away is transferred, and therefore can shorten the length of mechanical hand walking track, and this practicality to a certain extent
Novel structure design is the compactest, effectively reduces the volume of whole transfer device and takes up room.
Claims (2)
1. two-way fetch and deliver a robot device, including ball-screw, ball spline, mechanical finger, it is characterised in that also include
Slide bar, spring, support case, cam, support the hole having two axis parallel on case, and a hole is fixing with the screw of ball-screw to be connected
Connecing, another hole is fixing with the outer ring of ball spline to be connected, and lead screw shaft is parallel with splined shaft；Four slide bars are arranged on and support the four of case
Being connected with supporting case by sliding bearing at individual end angle, mechanical finger includes front finger and rear finger, front finger and rear finger phase
To setting, front finger is fixed on the upper end of two slide bars supporting case front end, and rear finger is fixed on two cunnings supporting box back
The upper end of bar, cam and ball spline shaft are coaxially disposed and are fixed on the spline mother of ball spline, at front finger and rear finger
Bottom be separately installed with a rolling bearing, two rolling bearings are corresponding with two protruding positions on cam, spring
Being socketed on the slide bar supporting bottom portion, one end apical grafting supports case, other end apical grafting slide bar end cap.
One the most according to claim 1 is two-way fetches and delivers robot device, it is characterised in that described cam include lordosis,
The most convex, adapter sleeve, lordosis and rear convex being oppositely arranged, arranged in dislocation, lordosis and the most convex between connect by adapter sleeve is fixing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620560658.2U CN205734922U (en) | 2016-06-08 | 2016-06-08 | One is two-way fetches and delivers robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620560658.2U CN205734922U (en) | 2016-06-08 | 2016-06-08 | One is two-way fetches and delivers robot device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205734922U true CN205734922U (en) | 2016-11-30 |
Family
ID=57360028
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620560658.2U Withdrawn - After Issue CN205734922U (en) | 2016-06-08 | 2016-06-08 | One is two-way fetches and delivers robot device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205734922U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105856220A (en) * | 2016-06-08 | 2016-08-17 | 辽宁普天数码股份有限公司 | Bidirectional taking and delivering type manipulator device |
-
2016
- 2016-06-08 CN CN201620560658.2U patent/CN205734922U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105856220A (en) * | 2016-06-08 | 2016-08-17 | 辽宁普天数码股份有限公司 | Bidirectional taking and delivering type manipulator device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102380868B (en) | Two-dimensional-translation one-dimensional-rotation three-degree-of-freedom mechanical arm | |
| CN204174971U (en) | Liftable platform | |
| CN204546006U (en) | A kind of flexible support mechanism of machining sheet workpiece and discrete type support column | |
| CN104370242A (en) | Fixed-shaft rotating lifting mechanism used for AGV robot and AGV robot | |
| CN105249697A (en) | Material storage box | |
| CN205180799U (en) | Case is deposited to data | |
| CN205734922U (en) | One is two-way fetches and delivers robot device | |
| CN102745469B (en) | The horizontal intermittent delivery mechanism of test tube stand and medical analytical instrument | |
| CN204211427U (en) | A kind of dead axle Xuan Sheng mechanism for AGV robot and AGV robot | |
| CN101518903A (en) | Crank block type under-actuated robot finger device | |
| CN110498370A (en) | Warehouse logistics transfer robot | |
| CN203269471U (en) | Rotary lifting platform for cantilever crane production line | |
| CN208456463U (en) | A kind of built-in door roller lead screw limiting device | |
| CN108032285A (en) | A kind of large space checking job robot system | |
| CN105856220A (en) | Bidirectional taking and delivering type manipulator device | |
| CN113957513A (en) | Drum-type full-automatic electroplating system and application process thereof | |
| CN203094996U (en) | Novel steel pipe moving mechanism | |
| CN208466269U (en) | A kind of intelligence manufacture equipment based on industrial robot | |
| CN204400563U (en) | A kind of translation lifting equipment for large-scale cylindrical workpiece | |
| CN204258529U (en) | The structure-improved of electric pushrod | |
| CN207577992U (en) | A kind of terminal box upper shell moves grasping mechanism | |
| CN203900951U (en) | Machining fixture for single-throw crank shaft | |
| CN202687465U (en) | Tray receiving-sending mechanism for conveying | |
| CN206476382U (en) | A kind of tiered warehouse facility claw is flexible to fetch and deliver goods device | |
| CN204150533U (en) | A kind of remote control shuttle vehicle for storage rack |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20161130 Effective date of abandoning: 20170919 |
|
| AV01 | Patent right actively abandoned |