CN205870524U - Transport pile up neatly servo machine tool arm - Google Patents
Transport pile up neatly servo machine tool arm Download PDFInfo
- Publication number
- CN205870524U CN205870524U CN201620793417.2U CN201620793417U CN205870524U CN 205870524 U CN205870524 U CN 205870524U CN 201620793417 U CN201620793417 U CN 201620793417U CN 205870524 U CN205870524 U CN 205870524U
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- arm
- transmission
- servounit
- cabinet
- mechanical
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Abstract
The utility model provides a transport pile up neatly servo machine tool arm, including control system cabinet, rotation cabinet, arm device, mechanical tongs device and transmission, control system is equipped with the revolving stage cashier's office in a shop, and the setting of rotation cabinet is on the revolving stage, and the arm device sets up and is rotating cashier's office in a shop, and mechanical tongs device sets up on the arm device, and transmission includes first transmission shaft, secondary drive axle, the transmission is vice and the transmission rope. The utility model discloses a revolving stage control machinery arm device and mechanical tongs device obtain the rotational degree of freedom of horizontal direction, transmission makes the arm device obtain the degree of freedom of vertical direction, machinery tongs device sets up on the arm device, the rotational degree of freedom who possesses the horizontal direction, the rotation can be made to whole device in level and vertical direction, removal or compound movement accomplish appointed action, the position and the gesture of holding the article is grabbed in the change, the drive relation is simple, so that the transmission is stable, and high in accuracy, moreover, the steam generator is simple in structure, have and carry out the value popularized and applied.
Description
Technical field
This utility model relates to robot palletizer technical field, especially a kind of carrying piling servounit arm.
Background technology
Mechanical hand refers to some holding function of apish hands and arm, in order to capture by fixed routine, to carry object
Or the automatic pilot of operation instrument.It can replace the heavy labor of people to realize the mechanization and the automatization that produce, can be
Operate to protect personal safety under hostile environment, thus be widely used in the fields such as machine-building, transport, light industry and electronics.
Mechanical hand is mainly made up of hand, motion and control system three parts.Hand is used to grasp workpiece
Parts, have various structures form according to by the grasping shape of object, size, weight, material and job requirements, as clamp-type,
Holding type and absorbent-type etc..Motion, makes hand complete various rotation, movement or compound motion and realizes the action of regulation,
Change and grasped position and the posture of object.The self-movement modes, referred to as mechanical hand such as the lifting of motion, flexible, rotation
Degree of freedom.Control system is the control by degree of freedom each to mechanical hand, completes specific action.
The effect of palletizing mechanical arm mainly carries out the feeding, discharge of product.In order to alleviate the burden of operator, or replace
Dangerous operation is carried out for operator.Substituted the operation of operator by palletizing mechanical arm, reach to improve operation effectiveness and guarantor
Protect the purpose of operator so that palletizing mechanical arm is applied widely in automated production occasion.
Existing palletizing mechanical arm comprises numerous driving means, and for doing four axes motion palletizing mechanical arm,
Owing to its each driving means arranges unreasonable, therefore there is the defect that structure complexity, bumpy motion and kinematic accuracy are low, thus limit
Make it and be applied to the occasion that technological requirement is high.
Therefore, the four axle palletizing mechanical arms needing a kind of simple in construction, stable movement and kinematic accuracy now badly high overcome
Above-mentioned defect.
Utility model content
The purpose of this utility model is to provide a kind of carrying piling servounit arm, to solve to exist in prior art
Carrying piling servounit arm structure is complicated, bumpy motion and the low problem of kinematic accuracy.
To achieve these goals, this utility model is by the following technical solutions:
A kind of carrying piling servounit arm that this utility model provides, including control system cabinet, rotates cabinet, mechanical arm
Device, mechanical gripper device and actuating device；Described control system is cashier's office in a shop provided with turntable, and described rotation cabinet is arranged on turntable,
Described robot arm device is arranged on rotation cashier's office in a shop, and described mechanical gripper device is arranged on robot arm device, described actuating device
Including the first power transmission shaft, second driving shaft, transmission and transmission rope.
Further, described first power transmission shaft is connected through described turntable with the dynamical element in control system cabinet.This technology
Scheme have the technical effect that the first power transmission shaft accepts and transmits the power of dynamical element in control system cabinet, drive machinery
Arm assembly and mechanical gripper device make corresponding action, capture, move and place manipulating object, and driving relationship is simple, reduces
The loss of power, simple in construction, controllability is strong.
Further, described first power transmission shaft is provided with associated drive block, and described drive block is slidably arranged in simultaneously
Described rotation is cashier's office in a shop.This technical scheme have the technical effect that drive block accepts the power of the first power transmission shaft, rotate cashier's office in a shop go up
Lower slider, is converted to linear motion, simple in construction by the rotary motion of dynamical element, and transmission efficiency is high.
Further, described second driving shaft is arranged on described drive block.This technical scheme have the technical effect that second
Power transmission shaft moves up and down with drive block, drives robot arm device in the vertical direction motion work, the driving knot of robot arm device
Structure is simple, is easily controlled.
Further, described transmission is triangle transmission, and one angle is arranged on described robot arm device.This technology
The simple in construction having the technical effect that triangle transmission of scheme, stable, simplify the structure of drive system, power loss
Few, transmission is effective.
Further, described transmission rope includes the first transmission rope and the second transmission rope, one end of described first transmission rope and control
Dynamical element in system cabinet processed connects, and the other end is connected with the one in the another two angle of transmission, described second transmission rope
One end be connected with the another one in the another two angle of transmission, the end of the other end of the second transmission rope and robot arm device is even
Connect.This technical scheme have the technical effect that the first transmission rope, transmission, the second transmission rope are sequentially connected with, by dynamical element
Power is delivered to the tail end of robot arm device, controls the opening and closing movement that robot arm device makes the arm of similar people, mobile operation
Object, drive mechanism is simple, flexible movements.
Further, the first mechanical arm that described robot arm device includes being sequentially connected with, the second mechanical arm, tail arm, Yi Jizhi
Brace, described first mechanical arm is arranged on described rotation cashier's office in a shop, and one end of described support arm is arranged on rotation cashier's office in a shop, and the other end sets
Put on described second mechanical arm.This technical scheme have the technical effect that the first mechanical arm, the second mechanical arm, tail arm successively
Connecting, the structure of the arm of simulation people, motility is strong, and support arm is to the first mechanical arm, the second mechanical arm, the attachment structure of tail arm
Play a supportive role, simultaneously coordination the most therewith, complete the action specified, whole robot arm device Stability Analysis of Structures, simple, coordinate
Property is strong.
Further, described transmission is arranged on described support arm.This technical scheme have the technical effect that transmission
Position opposed support structure keeps constant, with support arm synchronizing moving, does not produce unnecessary degree of freedom, stably linking the first biography
Dynamic search and the second transmission rope, stable drive, reliable.
Further, one end of described second transmission rope is arranged on described transmission, and the other end is arranged in tail arm.This skill
Art scheme have the technical effect that the second transmission rope is connected in tail arm so that actuating device can link up control whole machinery
The action of arm assembly, simple in construction, power loss is few.
Further, described mechanical gripper device includes that rotating disk, suspension bracket and handgrip, described rotating disk are arranged in described tail arm,
Described suspension bracket is arranged on rotating disk, and described handgrip is arranged on suspension bracket.This technical scheme have the technical effect that control system control
Turntable rotation processed, makes mechanical gripper device obtain the rotary freedom of horizontal direction, it is possible to adjusts handgrip and captures the angle of object,
Flexible movements, motion is accurately.
A kind of carrying piling servounit arm that this utility model provides, by being arranged on control system turntable cashier's office in a shop
Control robot arm device and the rotary freedom of mechanical gripper device acquisition horizontal direction, the first power transmission shaft and second driving shaft two
Axle coordinates jointly, and the transmission of transmission and transmission rope, makes robot arm device obtain the degree of freedom of vertical direction so that it is can
Action in vertically side, mechanical gripper device is arranged on robot arm device, possesses the rotary freedom of horizontal direction, whole dress
Put and can make the action that rotation, movement or compound motion complete to specify in the horizontal and vertical directions, change by grasping object
Position and posture, whole device driving relationship is simple, and transmission efficiency is high, stable drive, flexible movements, and accuracy is high, structure
Simply, stablize, solve existing carrying piling servounit arm structure complexity, bumpy motion and low the asking of kinematic accuracy
Topic, is adapted for popularization and application.
Accompanying drawing explanation
In order to be illustrated more clearly that this utility model detailed description of the invention or technical scheme of the prior art, below by right
In detailed description of the invention or description of the prior art, the required accompanying drawing used is briefly described, it should be apparent that, describe below
In accompanying drawing be embodiments more of the present utility model, for those of ordinary skill in the art, do not paying creativeness
On the premise of work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
A kind of structural representation carrying piling servounit arm that Fig. 1 provides for this utility model embodiment one；
A kind of structural representation carrying piling servounit arm that Fig. 2 provides for this utility model embodiment one.
Reference:
1-control system cabinet；2-rotates cabinet；3-robot arm device；
4-mechanical gripper device；5-actuating device；6-turntable；
31-the first mechanical arm；32-the second mechanical arm；33-tail arm；
34-support arm；41-rotating disk；42-suspension bracket；
43-handgrip；51-the first power transmission shaft；52-second driving shaft；
53-transmission；54-drive block；55-the first transmission rope；
56-the second transmission rope.
Detailed description of the invention
Below in conjunction with accompanying drawing, the technical solution of the utility model is clearly and completely described, it is clear that described
Embodiment is a part of embodiment of this utility model rather than whole embodiments.Based on the embodiment in this utility model, this
The every other embodiment that field those of ordinary skill is obtained under not making creative work premise, broadly falls into this practicality
Novel protected scope.
In description of the present utility model, " " center ", " on ", D score, "left", "right", " perpendicular it should be noted that term
Directly ", " level ", " interior ", the orientation of the instruction such as " outward " or position relationship be based on orientation shown in the drawings or position relationship, be only
Must have specific for the ease of describing this utility model and simplification description rather than instruction or the device of hint indication or element
Orientation, with specific azimuth configuration and operation, therefore it is not intended that to restriction of the present utility model.Additionally, term " the
One ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that instruction or hint relative importance.
In description of the present utility model, it should be noted that unless otherwise clearly defined and limited, term " peace
Dress ", should be interpreted broadly " being connected ", " connection ", for example, it may be fix connection, it is also possible to be to removably connect, or integratedly
Connect；Can be to be mechanically connected, it is also possible to be electrical connection；Can be to be joined directly together, it is also possible to be indirectly connected to by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Language concrete meaning in this utility model.
A kind of structural representation carrying piling servounit arm that Fig. 1 provides for this utility model embodiment one；Fig. 2
A kind of structural representation carrying piling servounit arm provided for this utility model embodiment one.
Embodiment one:
In the alternative of the present embodiment, as shown in Figure 1 and Figure 2, a kind of carrying piling servo that the present embodiment provides
Tool arm, including control system cabinet 1, rotates cabinet 2, robot arm device 3, mechanical gripper device 4 and actuating device 5；Control system
Cabinet 1 is provided with turntable 6, rotates cabinet 2 and is arranged on turntable 6, and robot arm device 3 is arranged on rotation cabinet 2, mechanical gripper device 4
Being arranged on robot arm device 3, actuating device 5 includes the first power transmission shaft 51, second driving shaft 52, transmission 53 and transmission rope.
Current palletizing mechanical arm, each driving device structure is complicated, and robust motion is poor and kinematic accuracy is not enough, it is difficult to apply in work
Skill requires high occasion.In the present embodiment, control system cabinet 1 controls turntable 6 and rotates, and rotates so that rotating cabinet 2, and mechanical arm fills
Put 3 and mechanical gripper device 4 thus obtain the rotary freedom of horizontal direction, it is dynamic that actuating device 5 accepts in control system cabinet 1
The power of power element, makes driving robot arm device 3 obtain the translation freedoms of vertical direction, and control system controls mechanical gripper dress
Put 4 to rotate on robot arm device 3, it is thus achieved that the rotary freedom of horizontal direction, whole device can be in the horizontal and vertical directions
Make the action that rotation, movement or compound motion complete to specify, change and grasped position and the attitude of object；Control system cabinet
The Main Function of 1 is to support robot arm device 3 and mechanical gripper device 4, exports power and controls whole device operation, existing skill
Art can reach.
In the alternative of the present embodiment, further, the first power transmission shaft 51 passes in turntable 6 and control system cabinet 1
Dynamical element connect.In the present embodiment, the first power transmission shaft 51 accepts power and drives robot arm device 3 and mechanical gripper dress
Put 4 and make corresponding action, capture, move and place manipulating object.
In the alternative of the present embodiment, further, the first power transmission shaft 51 is provided with associated drive block 54,
Drive block 54 is slidably arranged on rotation cabinet 2 simultaneously.In the present embodiment, the first power transmission shaft 51 is leading screw, and drive block 54 is spiral shell
Mother, drive block 54 is movably arranged on rotation cabinet 2, is moved by the linear motion that the rotational power of the first power transmission shaft 51 is converted to self
Power, slides up and down on cabinet 2 rotating.
In the alternative of the present embodiment, further, second driving shaft 52 is arranged on drive block 54.In this enforcement
In example, second driving shaft 52 moves up and down with drive block 54, drives robot arm device 3 in the vertical direction motion work.
In the alternative of the present embodiment, further, transmission 53 is triangle transmission 53, and one angle is arranged
On robot arm device 3.In the present embodiment, triangle transmission 53 is prior art, can buy in market.
In the alternative of the present embodiment, further, transmission rope includes the first transmission rope 55 and the second transmission rope 56,
One end of first transmission rope 55 is connected with the dynamical element in control system cabinet 1, in the another two angle of the other end and transmission 53
One connect, one end of the second transmission rope 56 is connected with the another one in the another two angle of transmission 53, the second transmission rope 56
The other end be connected with the end of robot arm device 3.In the present embodiment, the first transmission rope 55, transmission the 53, second transmission rope
56 are sequentially connected with, and are delivered on robot arm device 3 by the power of dynamical element consistently, control robot arm device 3 and make similar
The action of the arm of people, mobile manipulating object.
In the alternative of the present embodiment, further, robot arm device 3 includes the first mechanical arm being sequentially connected with
31, the second mechanical arm 32, tail arm 33, and support arm 34, the first mechanical arm 31 is arranged on rotation cabinet 2, the one of support arm 34
End is arranged on rotation cabinet 2, and the other end is arranged on the second mechanical arm 32.In the present embodiment, first mechanical arm the 31, second machine
Mechanical arm 32, tail arm 33 are sequentially connected with, the structure of the arm of simulation people, and the attachment structure of this three is played support and makees by support arm 34
With, coordination the most therewith simultaneously, complete the action specified.
In the alternative of the present embodiment, further, transmission 53 is arranged on support arm 34.At the present embodiment
In, the position opposed support structure 34 of transmission 53 keeps constant, with support arm 34 synchronizing moving, by the first transmission rope 55 and second
Transmission rope 56 links up.
In the alternative of the present embodiment, further, one end of the second transmission rope 56 is arranged on transmission 53, separately
One end is arranged in tail arm 33.In the present embodiment, the second transmission rope 56 is connected in tail arm 33 so that power is delivered to whole
On robot arm device 3.
In the alternative of the present embodiment, further, mechanical gripper device 4 includes rotating disk 41, suspension bracket 42 and handgrip
43, rotating disk 41 is arranged in tail arm 33, and suspension bracket 42 is arranged on rotating disk 41, and handgrip 43 is arranged on suspension bracket 42.At the present embodiment
In, control system controls rotating disk 41 and rotates, and makes mechanical gripper device 4 obtain the rotary freedom of horizontal direction, controls to grab simultaneously
Hands 43 captures target piece.
Embodiment two:
In the alternative of the present embodiment, as shown in Figure 1 and Figure 2, a kind of carrying piling servo that the present embodiment provides
Tool arm, including control system cabinet 1, rotates cabinet 2, robot arm device 3, mechanical gripper device 4 and actuating device 5；Control system
Cabinet 1 is provided with turntable 6, rotates cabinet 2 and is arranged on turntable 6, and robot arm device 3 is arranged on rotation cabinet 2, mechanical gripper device 4
Being arranged on robot arm device 3, actuating device 5 includes the first power transmission shaft 51, second driving shaft 52 and transmission rope.At the present embodiment
In, whole device can make the action that rotation, movement or compound motion complete to specify in the horizontal and vertical directions, changes quilt
The position of grasping object and attitude.
Being different from embodiment one, actuating device 5 includes the first power transmission shaft 51, second driving shaft 52 and transmission rope, directly exists
Arranging fixed pulley on robot arm device 3, transmission rope, through fixed pulley, transfers power on robot arm device 3.
Last it is noted that various embodiments above is only in order to illustrate the technical solution of the utility model, rather than it is limited
System；Although being described in detail this utility model with reference to foregoing embodiments, those of ordinary skill in the art should
Understand: the technical scheme described in foregoing embodiments still can be modified by it, or to the most some or all of
Technical characteristic carries out equivalent；And these amendments or replacement, do not make the essence of appropriate technical solution depart from this practicality new
The scope of type each embodiment technical scheme.
Claims (10)
1. a carrying piling servounit arm, it is characterised in that include control system cabinet, rotate cabinet, robot arm device, machine
Tool gripper equipment and actuating device；Described control system is cashier's office in a shop provided with turntable, and described rotation cabinet is arranged on turntable, described machinery
Arm assembly is arranged on rotation cashier's office in a shop, and described mechanical gripper device is arranged on robot arm device, and described actuating device includes first
Power transmission shaft, second driving shaft, transmission and transmission rope.
Carrying piling servounit arm the most according to claim 1, it is characterised in that described first power transmission shaft passes institute
State turntable to be connected with the dynamical element in control system cabinet.
Carrying piling servounit arm the most according to claim 2, it is characterised in that described first power transmission shaft is provided with
Associated drive block, described drive block is slidably arranged in described rotation cashier's office in a shop simultaneously.
Carrying piling servounit arm the most according to claim 3, it is characterised in that described second driving shaft is arranged on
On described drive block.
Carrying piling servounit arm the most according to claim 1, it is characterised in that described transmission is that triangle passes
Dynamic pair, one angle is arranged on described robot arm device.
Carrying piling servounit arm the most according to claim 5, it is characterised in that described transmission rope includes the first biography
Dynamic search and the second transmission rope, one end of described first transmission rope is connected with the dynamical element in control system cabinet, the other end and biography
One in dynamic secondary another two angle connects, and one end of described second transmission rope is with the another one in the another two angle of transmission even
Connecing, the other end of the second transmission rope is connected with the end of robot arm device.
Carrying piling servounit arm the most according to claim 6, it is characterised in that described robot arm device includes depending on
First mechanical arm of secondary connection, the second mechanical arm, tail arm, and support arm, described first mechanical arm is arranged on described rotation cabinet
On, one end of described support arm is arranged on rotation cashier's office in a shop, and the other end is arranged on described second mechanical arm.
Carrying piling servounit arm the most according to claim 7, it is characterised in that described transmission is arranged on described
On support arm.
Carrying piling servounit arm the most according to claim 8, it is characterised in that one end of described second transmission rope
Being arranged on described transmission, the other end is arranged in tail arm.
Carrying piling servounit arm the most according to claim 9, it is characterised in that described mechanical gripper device bag
Including rotating disk, suspension bracket and handgrip, described rotating disk is arranged in described tail arm, and described suspension bracket is arranged on rotating disk, and described handgrip is arranged
On suspension bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620793417.2U CN205870524U (en) | 2016-07-26 | 2016-07-26 | Transport pile up neatly servo machine tool arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620793417.2U CN205870524U (en) | 2016-07-26 | 2016-07-26 | Transport pile up neatly servo machine tool arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205870524U true CN205870524U (en) | 2017-01-11 |
Family
ID=57700128
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620793417.2U Expired - Fee Related CN205870524U (en) | 2016-07-26 | 2016-07-26 | Transport pile up neatly servo machine tool arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205870524U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106002985A (en) * | 2016-07-26 | 2016-10-12 | 青岛北洋天青数联智能股份有限公司 | Carrying and stacking servo mechanical arm |
| CN108406727A (en) * | 2018-03-02 | 2018-08-17 | 俞权锋 | A kind of conveying robot unit |
-
2016
- 2016-07-26 CN CN201620793417.2U patent/CN205870524U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106002985A (en) * | 2016-07-26 | 2016-10-12 | 青岛北洋天青数联智能股份有限公司 | Carrying and stacking servo mechanical arm |
| CN108406727A (en) * | 2018-03-02 | 2018-08-17 | 俞权锋 | A kind of conveying robot unit |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170111 Termination date: 20170726 |