CN205870505U

CN205870505U - Multi -arm rotation type handling device

Info

Publication number: CN205870505U
Application number: CN201620763071.1U
Authority: CN
Inventors: 刘召柱; 叶淑源; 李晓垚; 张帝
Original assignee: Anhui University of Science and Technology
Current assignee: Anhui University of Science and Technology
Priority date: 2016-07-19
Filing date: 2016-07-19
Publication date: 2017-01-11
Anticipated expiration: 2026-07-19

Abstract

The utility model belongs to the technical field of the transport and specifically relates to a multi -arm rotation type handling device, including parallel with dynamic formula machinery clamp, ball gear mechanical joint, telescopic arm, rotary device and transfer device. The parallel press from both sides with dynamic formula machinery that to be located ball gear mechanical joint terminal, ball gear mechanical joint is located telescopic arm with parallel with between the dynamic formula machinery clamp, can be made parallel more in a flexible way when snatching with the placing object body with dynamic formula machinery clamp, telescopic arm is installed on rotary device, and every rotary device can make three telescopic arm carry out rotary motion around rotation center, telescopic arm internal design cuts fork mechanism, and this mechanism can be as requested and change the length of arm itself, rotary device is located transfer device, and the device can move at the enterprising course of transfer device. The utility model discloses the work that can make article transport one type becomes convenient, high -efficient more, and it is big to have solved porter intensity of labour, and transport work efficiency is low, the high scheduling problem of landed cost.

Description

A kind of multi-arm rotary conveying device

Technical field

This utility model relates to carrying field, specifically a kind of multi-arm rotary conveying device.

Background technology

At present, the later process of the industry such as the food of China, medicine, express delivery the most all includes that shaped article automatization wraps Fill, sort, case, the operation such as piling and accumulating, these operations use craft or semi-hand operation mostly, and production efficiency is low, labor Fatigue resistance is big, there is secondary pollution hidden danger.In addition, for chemical industry, it relates to oil, coating, metallurgy, the energy, light Multiple field such as work, environmental protection, many products have the characteristics such as inflammable, explosive, poisonous and corrosion, and this series products has high-risk because of it Dangerous feature, therefore safety problem is the emphasis that chemical industry requirements of one's work consider all the time.

Along with the development in epoch, efficiently, quickly, safety be the major requirement of production process, will be the most advanced, the cleverest It has been extremely urgent that Handling device alive, in hgher efficiency applies to above-mentioned field, but the Handling device in current China market Mostly being the device of Single Mechanical arm work, the quantity of mechanical arm badly influences the work efficiency of Handling device, simultaneously as treat The complexity of carrying article causes the work efficiency of Single Mechanical arm Handling device to decline further.

For problem above, in the urgent need to a kind of Handling device with new work characteristics, i.e. a kind of multi-arm is rotary Handling device, it can be liberated surplus labour force, improve production efficiency, promotes production automation level and ensures production security Deng, can be widely applied to relate to multiple fields of product carrying.

Summary of the invention

In order to make up the deficiencies in the prior art, this utility model provides a kind of multi-arm rotary conveying device, Ke Yishi Efficient, the safety carrying of existing multiple fields product.

Technical problem to be solved in the utility model realizes by the following technical solutions.

A kind of multi-arm rotary conveying device, including including that six parallel same dynamic formula machinery folders, six spherical gear machineries close Joint, six telescopic mechanical arms, two rotary apparatuss and transporter, it is characterised in that: described parallel same dynamic formula machinery folder It is positioned at an end of spherical gear mechanical joint, and the end that parallel same dynamic formula machinery presss from both sides with spherical gear mechanical joint is fixedly connected with, Parallel same dynamic formula machinery folder can be used for gripping and placing object；Described spherical gear mechanical joint is positioned at telescopic mechanical arm with flat Between row is with dynamic formula machinery folder, and another end of spherical gear mechanical joint is fixedly connected with telescopic mechanical arm, button turbine It is more flexible with when placing object that tool joint can make parallel same dynamic formula machinery be clipped in crawl；Described telescopic mechanical arm is installed on On rotary apparatus, and telescopic mechanical arm is fixedly connected with rotary apparatus, each rotary apparatus can make three telescopic mechanical arms around Center of rotation is rotated；Described telescopic mechanical arm is internally provided with scissor-type mechanism, and this mechanism can be as requested And change the length of mechanical arm itself；Described rotary apparatus is positioned on transporter, and transporter is provided with transhipment guide rail, Rotary apparatus can move along transhipment guide rail.

Described parallel same dynamic formula machinery folder include two panels holder, two panels clamping plate, connecting shaft, two one-level connecting rods, two Individual two connect lever, motor I, sensor, two worm gears, worm screw, pressure-strain sheets, one end of one-level connecting rod and clamping plate Floor in the middle of outer surface is connected by bolt, and described clamping plate inner face is rubber layer structure, and this structure ensure that clamping plate Stability during gripping object, pressure-strain sheet, between clamping plate and rubber layer, is used for detecting parallel same dynamic formula machinery and is clipped in Capturing dynamics during object, it is ensured that parallel same dynamic formula machinery is clipped in while grabbing steady object will not damage object, clamping plate are at folder Taking and remain parallel with when placing object, can avoid treating the destruction of carry an object the most to a certain extent, one-level connects The other end of bar is attached by pin and two grades of connecting rods；Two grades of connecting rods are positioned at holder inner surface, and two grades of connecting rods It is connected by pin with holder；Worm gear is between two panels holder, and described worm gear is provided with extension bar, extension bar and a cascade Extension bar is attached by pin, and worm gear is connected by thin axle with holder；Worm screw between two worm gears, worm and wheel It is meshed, and worm screw one end is attached by shaft coupling with motor I；Motor I and sensor are respectively placed in holder Outer surface；Two panels holder is attached by bolt with connecting shaft.

Described spherical gear mechanical joint include a pair spherical involute gear, spherical gear support arm, spherical gear inner support, two Individual spherical gear projecting shaft, two through straight line screw mandrel motors, two U-shaped supports, two spherical gear projecting shafts are by weldering Connect and be fixedly connected with pivoted arm and connecting shaft respectively；Spherical gear support arm is placed in outside spherical gear inner support, and spherical gear support arm with Spherical gear inner support is attached by pin；One spherical involute gear is positioned at inside spherical gear inner support, and in spherical gear Support is attached by pin with this spherical involute gear；U-shaped support base is attached by pin with pivoted arm；Connect ball Line between gear support arm and two pins of spherical gear inner support with run through another spherical involute gear projecting shaft Pin centrage is perpendicular；Through straight line screw mandrel motor is attached by pin with U-shaped support side；Through directly Screw mandrel end on filament bar motor is attached by spherical hinge with spherical gear support arm, and screw mandrel passes through push-pull ball gear Support arm and then drive spherical involute gear movement, compare conventional gears mechanism and only possess the feature of a transmission degree of freedom, ball Gear mechanism has two transmission degree of freedom, and motion feature shows as a pair joint ball and makees pure rolling, therefore can meet bionical machine The requirement of tool movable joint, makes mechanical arm more flexible when capturing goods.

Described telescopic mechanical arm includes the first cradle head, the second cradle head, the 3rd cradle head, the 4th rotation Joint, the first linking arm, the second linking arm, telescopic arm, pivoted arm, swivel base, the first linking arm is positioned at above swivel base, and swivel base and One linking arm is connected by the first cradle head；Telescopic arm is positioned at above the first linking arm, and telescopic arm and the first linking arm It is connected by the second cradle head；Telescopic arm and the second linking arm are connected by the 3rd cradle head；Second linking arm with Pivoted arm is connected by the 4th cradle head；Described the first cradle head, the second cradle head, the 3rd cradle head, the 4th Cradle head all includes ring gear, motor III, spur gear, two bevel gears, two bearings II, axles, and ring gear is pacified respectively It is contained in the first cradle head, the second cradle head, the 3rd cradle head, the inside of the 4th cradle head；One bevel gear is installed In the rotating shaft of motor；Another bevel gear is mounted on an axle by key with spur gear；Bearing II is mounted on an axle, and axle Hold II to be fixed on inside cradle head；Spur gear is meshed by the gear teeth with ring gear；Motor III rotates with first respectively Joint, the second cradle head, the 3rd cradle head, the 4th cradle head are connected by bolt.Described telescopic arm includes cutting V shape mechanism, hydraulic stem, telescopic arm outer wall, telescopic arm inwall, stopper slot, spacing hole, two bent axles, scissor-type mechanism upper end with Spacing hole is attached by pin, and scissor-type mechanism lower end is attached by pin with stopper slot；Hydraulic stem two ends are with bent Axle is attached by pin, and bent axle is attached by pin with scissor-type mechanism；Telescopic arm inboard wall outer surface is provided with cunning Groove II, telescopic arm outer wall is enclosed within telescopic arm inner wall outside, and telescopic arm outer wall can slide along chute II, scissor-type mechanism Can stretch according to removing the transhipment distance pressed from both sides with parallel same dynamic formula machinery of object, utilize its excellent flexible feature to expand The radius of clean-up of mechanical arm so that mechanical arm has bigger extensibility, the working range of end effector can be made to obtain Bigger extension.

Described rotary apparatus includes that three pieces of gripper shoes, rotary shafts, gripper shoe connect by being weldingly connected with rotary shaft, and three Angle between block gripper shoe is 120 °；Described rotary shaft is positioned at above straight line slide unit, and the slide block on straight line slide unit and rotation Rotating shaft is attached by bolt, and rotary shaft can move along transhipment guide rail；Gripper shoe is positioned at below swivel base, and gripper shoe It is attached by bolt with swivel base.

Described transporter include two transhipment supports, two to transhipment guide rail, two straight line slide units, four screw mandrel spiral shells Mother, four screw mandrels, II, eight bearings I of four motors, screw mandrel is connected by shaft coupling with motor II；Bearing I is pacified Being contained in transhipment support two ends, screw mandrel two ends pass bearing I；Feed screw nut is positioned at below straight line slide unit two ends, and feed screw nut with Straight line slide unit is attached by bolt below two ends；Screw mandrel passes feed screw nut；Straight line slide unit is provided with chute below two ends I, transhipment guide rail is through chute I, and transhipment guide rail is fixedly connected by screw with transhipment support, and transhipment support on the one hand can To transport straight line slide unit, on the other hand whole Handling device can be supported.

The beneficial effects of the utility model are:

(1) all mechanical arms of the present utility model can carry out capturing and the work placing object, base within the same time period In this, this utility model has higher work efficiency.

(2) spherical gear mechanical joint of the present utility model has two transmission degree-of-freedom joint designs, and motion feature shows It is that pure rolling made by a pair joint ball, therefore substantially increases the motility of bionic mechanical movable joint.

(3) mechanical arm of the present utility model has bigger retractility, and the flexible feature utilizing scissor-type mechanism excellent can So that working range of the present utility model obtains bigger extension.

(4) parallel same dynamic formula machinery of the present utility model is clipped in gripping and remains parallel with clamping plate when placing object, can To avoid treating the destruction of carry an object.

Accompanying drawing explanation

It is presented herein below and combines accompanying drawing and this utility model is further illustrated by example.

Fig. 1 is perspective view of the present utility model；

Fig. 2 be this utility model parallel same dynamic formula machinery folder perspective view；

Fig. 3 is the perspective view of this utility model spherical gear mechanical joint；

Fig. 4 is the perspective view of the telescopic mechanical arm of this utility model；

Fig. 5 is the perspective view of this utility model rotary apparatus；

Fig. 6 is the perspective view of this utility model transporter；

Fig. 7 is the top view of this utility model parallel same dynamic formula machinery folder；

Fig. 8 is the full sectional view of this utility model spherical gear mechanical joint；

Fig. 9 is the A-A sectional view of this utility model Fig. 3；

Figure 10 is the left view of the telescopic mechanical arm of this utility model；

Figure 11 is office's sectional view of this utility model telescopic arm；

Figure 12 is the perspective view within this utility model cradle head；

Figure 13 is this utility model cradle head internal structure front view；

Figure 14 is the front view of this utility model scissor-type mechanism；

Figure 15 is that this utility model transports support top view.

In figure: the most parallel same dynamic formula machinery presss from both sides, 2. spherical gear mechanical joint, the most telescopic mechanical arm, 4. rotary apparatus, 5. Transporter, 101. holders, 102. clamping plate, 103. connecting shafts, 104. one-level connecting rods, 105. 2 grades of connecting rods, 106. steppings Motor I, 107. sensors, 108. worm gears, 109. worm screws, 110. pressure-strain sheets, 1081. extension bars, 201. involute button Wheel, 202. spherical gear support arms, 203. spherical gear inner supports, 204. spherical gear projecting shafts, 205. through straight line screw mandrel steppings Motor, 206.U type support, 301. first cradle heads, 302. second cradle heads, 303. the 3rd cradle heads, 304. the 4th Cradle head, 305. first linking arms, 306. second linking arms, 307. telescopic arms, 308. pivoted arms, 309. swivel bases, 310. internal tooths Circle, 311. motors III, 312. spur gears, 313. bevel gears, 314. bearings II, 315. axles, 3071. scissor-type mechanisms, 3072. hydraulic stems, 3073. telescopic arm outer walls, 3074. telescopic arm inwalls, 3075. stopper slots, 3076. spacing holes, 3077. is bent Axle, 3078. chutes II, 401. gripper shoes, 402. rotary shafts, 501. transhipment supports, 502. transhipment guide rails, 503. straight line slide units, 504. feed screw nuts, 505. screw mandrels, 506. motors II, 507. bearings I, 5031. chutes I.

Detailed description of the invention

For the technological means making this utility model realize, creation characteristic, reach purpose and be easy to understand with effect, under Face combines and is specifically illustrating, and this utility model is expanded on further.

As shown in Fig. 1, Fig. 6 and Figure 10, a kind of multi-arm rotary conveying device, including including six parallel same dynamic formula machineries Pressing from both sides 1, six spherical gear mechanical joints, 3, two rotary apparatuss 4 of 2, six telescopic mechanical arms and transporter 5, described is parallel It is positioned at an end of spherical gear mechanical joint 2 with dynamic formula machinery folder 1, and parallel same dynamic formula machinery folder 1 closes with spherical gear machinery The end of joint 2 is fixedly connected with, and parallel same dynamic formula machinery folder 1 can be used for gripping and placing object；Described spherical gear mechanical joint 2 Between telescopic mechanical arm 3 with parallel same dynamic formula machinery folder 1, and another end of spherical gear mechanical joint 2 is with telescopic Mechanical arm 3 is fixedly connected with, and spherical gear mechanical joint 2 can make parallel same dynamic formula machinery folder 1 more flexible when capturing with placement object； Described telescopic mechanical arm 3 is installed on rotary apparatus 4, and telescopic mechanical arm 3 is fixedly connected with rotary apparatus 4, rotates dress Putting 4 can make three telescopic mechanical arms 3 be rotated around center of rotation；Described telescopic mechanical arm 3 is internally provided with Scissor-type mechanism 3071, this mechanism can change the length of mechanical arm itself as requested；Described rotary apparatus 4 is positioned at transhipment On device 5, transporter 5 is provided with transhipment guide rail 502, and rotary apparatus 4 can move along transhipment guide rail 502.

As shown in Fig. 2, Fig. 7, described parallel same dynamic formula machinery folder 1 includes two panels holder 101, two panels clamping plate 102, connects Axle 104, two two grades of connecting rods 105 of 103, two one-level connecting rods, motor I 106,107, two worm gears 108 of sensor, Worm screw 109, pressure-strain sheet 110, the floor in the middle of one end of one-level connecting rod 104 and clamping plate 102 outer surface is by bolt phase Connecting, described clamping plate 102 inner surface is rubber layer structure, and this structure ensure that stability when clamping plate 102 grip object, pressure Stress-strain sheet 110, between clamping plate 102 and rubber layer, is capturing the dynamics of object for detecting parallel same dynamic formula machinery folder 1, Ensure that parallel same dynamic formula machinery folder 1 will not damage object while grabbing steady object, clamping plate 102 are when gripping is with placement object Remaining parallel, can avoid treating the destruction of carry an object the most to a certain extent, the other end of one-level connecting rod 104 leads to Cross pin and two grades of connecting rods 105 are attached；Two grades of connecting rods 105 are positioned at holder 101 inner surface, and two grades of connecting rods 105 It is connected by pin with holder 101；Worm gear 108 is between upper and lower two panels holder 101, and described worm gear 108 is provided with and stretches out Bar 1081, extension bar 1081 is attached by pin with one-level connecting rod 104, and worm gear 108 is with holder 101 by thin axle even Connect；Worm screw 109 is between two worm gears 108, and worm screw 109 is meshed with worm gear 108, and worm screw 109 one end and motor I 106 are attached by shaft coupling；Motor I 106 and sensor 107 are respectively placed in holder 101 outer surface；Two panels holder 101 are attached by bolt with connecting shaft 103.

As shown in Fig. 2, Fig. 3, Fig. 4, Fig. 8 and Fig. 9, described spherical gear mechanical joint 2 includes a pair spherical involute gear 201, spherical gear support arm 202,204, two through straight line screw mandrel steps of 203, two spherical gear projecting shafts of spherical gear inner support Enter 205, two U-shaped supports 206 of motor, two spherical gear projecting shafts 204 by welding respectively with pivoted arm 308 and connecting shaft 103 It is fixedly connected with；Spherical gear support arm 202 is placed in outside spherical gear inner support 203, and spherical gear support arm 202 and spherical gear inner support 203 are attached by pin；One spherical involute gear 201 is positioned at inside spherical gear inner support 203, and props up in spherical gear Frame 203 is attached by pin with this spherical involute gear 201；U-shaped support 206 base is carried out by pin with pivoted arm 308 Connect；The line connected between spherical gear support arm 202 and two pins of spherical gear inner support 203 is gradually opened with running through another The pin centrage of thread ball gear projecting shaft 204 is perpendicular；Through straight line screw mandrel motor 205 and U-shaped support 206 side It is attached by pin；Screw mandrel end on through straight line screw mandrel motor 205 and spherical gear support arm 202 pass through ball Hinge is attached, and screw mandrel is by push-pull ball gear support arm 202 and then drives spherical involute gear 201 to move, and compares tradition Gear mechanism only possesses the feature of a transmission degree of freedom, and spherical involute gear mechanism has two transmission degree of freedom, motion spy Levy and show as a pair joint ball and make pure rolling, therefore can meet the requirement of bionic mechanical movable joint, make mechanical arm capture goods During thing more flexible.

As shown in Fig. 4, Figure 10, Figure 11, Figure 12, Figure 13 and Figure 14, described telescopic mechanical arm 3 includes that the first rotation is closed Joint 301, second cradle head the 302, the 3rd cradle head the 303, the 4th cradle head the 304, first linking arm 305, second connects Arm 306, telescopic arm 307, pivoted arm 308, swivel base 309, the first linking arm 305 is positioned at above swivel base 309, and swivel base 309 and first Linking arm 305 is connected by the first cradle head 301；Telescopic arm 307 is positioned at above the first linking arm 305, and telescopic arm 307 It is connected by the second cradle head 302 with the first linking arm 305；Telescopic arm 307 and the second linking arm 306 are by the 3rd rotation Joint 303 is connected；Second linking arm 306 is connected by the 4th cradle head 304 with pivoted arm 308；The first described rotation Joint the 301, second cradle head the 302, the 3rd cradle head the 303, the 4th cradle head 304 all includes ring gear 310, stepping electricity Machine III 311, spur gear 312, two bevel gears 313, two bearings II 314, axles 315, ring gear 310 is separately mounted to first turn The inside of movable joint the 301, second cradle head the 302, the 3rd cradle head the 303, the 4th cradle head 304；One bevel gear 313 It is arranged in the rotating shaft of motor III 311；Another bevel gear 313 is arranged on axle 315 by key with spur gear 312；Axle Hold II 314 to be arranged on axle 315, and bearing II 314 is fixed on inside cradle head；Spur gear 312 and ring gear 310 are by wheel Tooth is meshed；Motor III 311 respectively with first cradle head the 301, second cradle head the 302, the 3rd cradle head 303, 4th cradle head 304 is connected by bolt.Described telescopic arm 307 includes scissor-type mechanism 3071, hydraulic stem 3072, stretches Contracting arm outer wall 3073, telescopic arm inwall 3074, stopper slot 3075,3076, two bent axles 3077 of spacing hole, scissor-type mechanism 3071 Upper end is attached by pin with spacing hole 3076, and scissor-type mechanism 3071 lower end is carried out even by pin with stopper slot 3075 Connect；Hydraulic stem 3072 two ends are attached by pin with bent axle 3077, and bent axle 3077 and scissor-type mechanism 3071 pass through pin It is attached；Telescopic arm inwall 3074 outer surface is provided with chute II 3078, and telescopic arm outer wall 3073 is enclosed within telescopic arm inwall Outside 3074, and telescopic arm outer wall 3073 can slide along chute II 3078, and scissor-type mechanism 3071 can turn according to removing Distance between transported object with parallel same dynamic formula machinery folder 1 is stretched, and utilizes its excellent flexible feature to expand machinery The radius of clean-up of arm so that mechanical arm has bigger extensibility, can make the working range of end effector obtain bigger Extension.

As shown in Figure 4, Figure 5 and Figure 6, described rotary apparatus 4 includes three pieces of gripper shoes 401, rotary shaft 402, gripper shoe 401 connect by being weldingly connected with rotary shaft 402, and the angle between three pieces of gripper shoes 401 is 120 °；Described rotary shaft 402 It is positioned at above straight line slide unit 503, and the slide block on straight line slide unit 503 is attached by bolt with rotary shaft 402, rotary shaft 402 can move along transhipment guide rail 502；Gripper shoe 401 is positioned at below swivel base 309, and gripper shoe 401 is led to swivel base 309 Cross bolt to be attached.

As shown in Fig. 6, Figure 15, described transporter 5 includes that two transhipment supports 501, two are to transhipment guide rail 502, two 504, four screw mandrels of 503, four feed screw nuts of bar straight line slide unit, II 506, eight bearings I 507 of 505, four motors, screw mandrel 505 are connected by shaft coupling with motor II 506；Bearing I 507 is arranged on transhipment support 501 two ends, screw mandrel 505 two ends Through bearing I 507；Feed screw nut 504 is positioned at below straight line slide unit 503 two ends, and feed screw nut 504 and 503 liang of straight line slide unit It is attached by bolt below end；Screw mandrel 505 is through feed screw nut 504；Straight line slide unit 503 is provided with chute I below two ends 5031, transhipment guide rail 502 is through chute I 5031, and transhipment guide rail 502 is fixedly connected by screw with transhipment support 501, Transhipment support 501 1 aspect can transport straight line slide unit 503, on the other hand can support whole Handling device.

When work starts, first detected the position of object to be handled by the sensor 107 on parallel same dynamic formula machinery folder 1, Signal is passed to control system, is then started working by one group of mechanical arm near object to be handled, will by a rotary apparatus 4 Three telescopic mechanical arm 3 linearly slide units 503 on this device are transported to straight line slide unit 503 near the one of object to be handled End, then being taken the lead in the parallel same dynamic formula machinery folder 1 of its end by the telescopic mechanical arm 3 of on this rotary apparatus 4 Gripping object, is detected the suitable dynamics used by parallel same dynamic formula machinery folder 1 by pressure-strain sheet 110, after gripping object completes, This rotary apparatus 4 carries out fixed-axis rotation, another telescopic mechanical arm 3 press from both sides with parallel same dynamic formula machinery thereon folder 1 Taking work, after all parallel same dynamic formula machinery folder 1 on rotary apparatus 4 all completes crawl task, it is along straight line slide unit 503 Move to the required place placed of object and carry out object placement work, equally, telescopic mechanical arm 3 on rotary apparatus 4 and its The parallel same dynamic formula machinery folder 1 of end carries out object placement work, meanwhile, on another rotary apparatus 4 the most in turn One group of telescopic mechanical arm 3 starts to grip object with parallel same dynamic formula machinery folder 1, it addition, according to practical situation, transporter 5 On motor II 506 drive screw mandrel 505 move, such that it is able to change two straight line slide units 503 position so that porter Making convenient, by the cooperation of each device above, this utility model may finally realize the efficient carrying to object.

Of the present utility model ultimate principle, principal character and advantage have more than been shown and described.The technical staff of the industry It should be appreciated that this utility model is not restricted to the described embodiments, simply illustrating originally described in above-described embodiment and description The principle of utility model, on the premise of without departing from this utility model spirit and scope, this utility model also has various change And improvement, in the range of these changes and improvements both fall within claimed this utility model.The model that this utility model is claimed Enclose and defined by appending claims and equivalent thereof.

Claims

1. a multi-arm rotary conveying device, including including that six parallel same dynamic formula machineries folder (1), six spherical gear machineries close Joint (2), six telescopic mechanical arms (3), two rotary apparatuss (4) and transporter (5), it is characterised in that: described is parallel An end of spherical gear mechanical joint (2), and parallel same dynamic formula machinery folder (1) and spherical gear it is positioned at dynamic formula machinery folder (1) The end of mechanical joint (2) is fixedly connected with；Described spherical gear mechanical joint (2) is positioned at telescopic mechanical arm (3) with parallel with dynamic Between formula machinery folder (1), and another end of spherical gear mechanical joint (2) is fixedly connected with telescopic mechanical arm (3)；Described Telescopic mechanical arm (3) is installed on rotary apparatus (4), and telescopic mechanical arm (3) is fixedly connected with rotary apparatus (4)；Described Telescopic mechanical arm (3) be internally provided with scissor-type mechanism (3071)；Described rotary apparatus (4) is positioned at transporter (5) On；Wherein:

Described parallel same dynamic formula machinery folder (1) include two panels holder (101), two panels clamping plate (102), connecting shaft (103), two One-level connecting rod (104), two two grades connecting rods (105), motor I (106), sensor (107), two worm gears (108), Floor in the middle of worm screw (109), pressure-strain sheet (110), one end of one-level connecting rod (104) and clamping plate (102) outer surface leads to Crossing bolt to be connected, the other end of one-level connecting rod (104) is attached by pin and two grades of connecting rods (105)；Two cascades Extension bar (105) is positioned at holder (101) inner surface, and two grades of connecting rods (105) are connected by pin with holder (101)；Worm gear (108) it is positioned between two panels holder (101), and worm gear (108) is connected by thin axle with holder (101)；Worm screw (109) is positioned at two Between individual worm gear (108), worm screw (109) is meshed with worm gear (108), and worm screw (109) one end leads to motor I (106) Cross shaft coupling to be attached；Motor I (106) and sensor (107) are respectively placed in holder (101) outer surface；Two panels holder (101) it is attached by bolt with connecting shaft (103)；

Described spherical gear mechanical joint (2) includes a pair spherical involute gear (201), spherical gear support arm (202), spherical gear Inner support (203), two spherical gear projecting shafts (204), two through straight lines screw mandrel motor (205), two U-shaped supports (206), two spherical gear projecting shafts (204) are fixedly connected with pivoted arm (308) and connecting shaft (103) respectively by welding；Spherical gear Support arm (202) is placed in spherical gear inner support (203) outside, and spherical gear support arm (202) leads to spherical gear inner support (203) Cross pin to be attached；One spherical involute gear (201) is positioned at spherical gear inner support (203) inner side, and spherical gear inner support (203) it is attached by pin with this spherical involute gear (201)；U-shaped support (206) base and pivoted arm (308) pass through pin Nail is attached；Connect spherical gear support arm (202) and two pins of spherical gear inner support (203) between line with run through The pin centrage of another spherical involute gear projecting shaft (204) is orthogonal；Through straight line screw mandrel motor (205) It is attached by pin with U-shaped support (206) side；Screw mandrel end on through straight line screw mandrel motor (205) with Spherical gear support arm (202) is attached by spherical hinge；

Described telescopic mechanical arm (3) includes the first cradle head (301), the second cradle head (302), the 3rd cradle head (303), the 4th cradle head (304), the first linking arm (305), the second linking arm (306), telescopic arm (307), pivoted arm (308), swivel base (309), the first linking arm (305) is positioned at swivel base (309) top, and swivel base (309) and the first linking arm (305) It is connected by the first cradle head (301)；Telescopic arm (307) is positioned at the first linking arm (305) top, and telescopic arm (307) It is connected by the second cradle head (302) with the first linking arm (305)；Telescopic arm (307) passes through with the second linking arm (306) 3rd cradle head (303) is connected；Second linking arm (306) is connected by the 4th cradle head (304) with pivoted arm (308) Connect；

Described rotary apparatus (4) includes three pieces of gripper shoes (401), rotary shaft (402), gripper shoe (401) and rotary shaft (402) Connect by being weldingly connected；Gripper shoe (401) is positioned at swivel base (309) lower section, and gripper shoe (401) passes through bolt with swivel base (309) It is attached；

Described transporter (5) include two transhipment supports (501), two to transhipment guide rail (502), two straight line slide units (503), four feed screw nuts (504), four screw mandrels (505), II (506), eight bearings I (507) of four motors, screw mandrel (505) it is connected by shaft coupling with motor II (506)；Bearing I (507) is arranged on transhipment support (501) two ends, screw mandrel (505) two ends pass bearing I (507)；Feed screw nut (504) is positioned at below straight line slide unit (503) two ends, and feed screw nut (504) it is attached by bolt with straight line slide unit (503) two ends；Screw mandrel (505) passes feed screw nut (504)；Straight line slide unit (503) be provided with chute I (5031) below two ends, transhipment guide rail (502) through chute I (5031), and transhipment guide rail (502) with Transhipment support (501) is fixedly connected by screw.

A kind of multi-arm rotary conveying device the most according to claim 1, it is characterised in that: in described clamping plate (102) Surface is rubber layer structure, and pressure-strain sheet (110) is between clamping plate and rubber layer.

A kind of multi-arm rotary conveying device the most according to claim 1, it is characterised in that: described worm gear (108) sets Being equipped with extension bar (1081), extension bar (1081) is attached by pin with one-level connecting rod (104).

A kind of multi-arm rotary conveying device the most according to claim 1, it is characterised in that: the first described cradle head (301), the second cradle head (302), the 3rd cradle head (303), the 4th cradle head (304) all include ring gear (310), Motor III (311), spur gear (312), two bevel gears (313), two bearings II (314), axles (315), ring gear (310) the first cradle head (301), the second cradle head (302), the 3rd cradle head (303), the 4th rotation it are separately mounted to The inside in joint (304)；One bevel gear (313) is arranged in the rotating shaft of motor III (311)；Another bevel gear (313) it is arranged on axle (315) by key with spur gear (312)；Bearing II (314) is arranged on axle (315), and bearing II is solid It is scheduled on inside cradle head；Spur gear (312) is meshed by the gear teeth with ring gear (310)；Motor III (311) respectively with First cradle head (301), the second cradle head (302), the 3rd cradle head (303), the 4th cradle head (304) pass through Bolt is connected.

A kind of multi-arm rotary conveying device the most according to claim 1, it is characterised in that: described telescopic arm (307) Including scissor-type mechanism (3071), hydraulic stem (3072), telescopic arm outer wall (3073), telescopic arm inwall (3074), stopper slot (3075), spacing hole (3076), two bent axles (3077), scissor-type mechanism (3071) upper end and spacing hole (3076) pass through pin Being attached, scissor-type mechanism (3071) lower end is attached by pin with stopper slot (3075)；Hydraulic stem (3072) two ends Being attached by pin with bent axle (3077), bent axle (3077) is attached by pin with scissor-type mechanism (3071)；Stretch Contracting arm inwall (3074) outer surface is provided with chute II (3078), and telescopic arm outer wall (3073) is enclosed within telescopic arm inwall (3074) outward Side, and telescopic arm outer wall (3073) can slide along chute II (3078).

A kind of multi-arm rotary conveying device the most according to claim 1, it is characterised in that: described rotary shaft (402) It is positioned at straight line slide unit (503) top, and straight line slide unit (503) is attached by bolt with rotary shaft (402).