CN206032721U - Automatic ma pi robot of top mounted diaxon - Google Patents

Automatic ma pi robot of top mounted diaxon Download PDF

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Publication number
CN206032721U
CN206032721U CN201620769399.4U CN201620769399U CN206032721U CN 206032721 U CN206032721 U CN 206032721U CN 201620769399 U CN201620769399 U CN 201620769399U CN 206032721 U CN206032721 U CN 206032721U
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CN
China
Prior art keywords
mechanical arm
bearing
angle
mounting head
base
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.)
Expired - Fee Related
Application number
CN201620769399.4U
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Chinese (zh)
Inventor
曹培均
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yibin Nuofeite Robot Manufacturing Co Ltd
Original Assignee
Yibin Nuofeite Robot Manufacturing Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Yibin Nuofeite Robot Manufacturing Co Ltd filed Critical Yibin Nuofeite Robot Manufacturing Co Ltd
Priority to CN201620769399.4U priority Critical patent/CN206032721U/en
Application granted granted Critical
Publication of CN206032721U publication Critical patent/CN206032721U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

Not enough to prior art, the utility model provides an automatic ma pi robot of top mounted diaxon, this robot includes: turn and anchor clamps installation head at base, 2 at least motors, two set at least transmission, crank, arm I, arm II, 1 at least upper portion connecting rod, 1 at least lower part connecting rod, transmission linkage, 1 at least angle. Wherein, arm I accessible transmission rotates under the drive of motor, arm II accessible transmission, crank and transmission linkage do the back and forth movement under the drive of motor. Anchor clamps installation head can keep being in the horizontal plane under the combined action of arm II and lower part connecting rod. The utility model has the advantages of: not only the noise is little, mechanical oscillation is little but also the maintenance cost low to higher work efficiency has.

Description

Top fills two axle automatic setting machine device people
Technical field
This utility model belongs to automaton field, more particularly to a kind of top fills two axle automatic setting machine device people.
Background technology
Setting machine is primarily adapted for use in once, the green brick stacking in quadratic code fired tunnel kiln, traditional setting machine such as Fig. 1 Shown, operation principle is slided on fixed rack and by the fixture of lower part reaching pushing setting machine by pneumatic The purpose that fixed position is put down is slided into after green compact are captured after pinch-off, the set setting machine is as clamp weight is greatly in the process slided Middle noise is very big, and the vibrations of setting machine are big, and the bearing for sliding is very easy to damage, and maintenance time is long, and maintenance cost is high.
The content of the invention
This utility model is directed to the deficiencies in the prior art, there is provided a kind of top fills two axle automatic setting machine device people, the machine People includes:Base, at least 2 motors, at least two sets actuating devices, crank, mechanical arm I, mechanical arm II, at least one tops connect Bar, at least one lower link, kinematic link, at least one angle are turned and fixture mounting head;Wherein, motor is fixed by actuating device It is installed on two sides of base;Base bottom is loaded in crank, and its one end is connected with wherein a set of actuating device, the other end It is flexibly connected with kinematic link;The kinematic link other end is flexibly connected with mechanical arm II, kinematic link can pass through crank and with song The actuating device of handle connection driving mechanical arm II under the drive of corresponding motor does back and forth movement;Mechanical arm I one end with it is another set of Actuating device connects, by being loaded on base bottom in the set actuating device;The other end of mechanical arm I is lived with one end of mechanical arm II Dynamic connection, the mechanical arm II other ends are flexibly connected with the other end with fixture mounting head;Connect in the activity of mechanical arm I and mechanical arm II Socket part is also connected with angle and turns, and the corner that angle is turned is flexibly connected with mechanical arm I, mechanical arm II;Upper links one end and angle Flexible connection is turned, the other end is flexibly connected with base top;Lower link one end is turned with angle and is flexibly connected, and the other end is pacified with fixture Dress head is flexibly connected;Fixture mounting head can follow under the collective effect of mechanical arm II and lower link mechanical arm II motion and Point to forever same direction in bottom surface.
Further, the robot has selected 2 motors and 2 sets of actuating devices, and now, 1 motor of the robot leads to Cross wherein a set of actuating device and be fixedly installed in chassis left side, another motor is installed on base by another set of actuating device Right side.
Preferably, motor selects 4.4kW servomotors.
Further, between upper links and base between, upper links and angle are turned, angle turn described between lower link Flexible connection is and is articulated and connected.
Further, actuating device includes fixing device and decelerator, and wherein decelerator is fixedly installed in by fixing device On the side of base.
Further, mechanical arm I one end central authorities are provided with fluting, and crank is installed in fluting by crossed roller bearing.Open The mechanical arm I ends are divided into the left and right sides by groove, and wherein side is directly fixedly connected with a decelerator;Opposite side is provided with groove, Sized cross roller bearings are installed with groove.The one end of the internal ring of sized cross roller bearings inside mechanical arm I is solid with crank Fixed to connect, the other end is fixedly connected with flange.Sized cross roller bearings internal ring is fixed in one end to flange respectively, the other end and another Decelerator is fixedly connected.Mechanical arm I by being loaded on base bottom in 2 decelerators, flange, sized cross roller bearings, can by with The decelerator that mechanical arm I is fixedly connected is rotated under the drive of corresponding motor.
Further, connected using rotating shaft between mechanical arm I and mechanical arm II, be installed with the axis hole of mechanical arm I Taper roll bearing, rotating shaft are each passed through the axis hole of the internal ring of taper roll bearing and mechanical arm II, by mechanical arm I and mechanical arm II links together.
Preferably, the connection end of mechanical arm I and mechanical arm II is two connects bearings of respective extension, the two of mechanical arm I Taper roll bearing is installed with individual connects bearing, 2 rotating shafts are each passed through the internal ring and machinery of taper roll bearing Two bearing axis holes of arm II, mechanical arm I and mechanical arm II are linked together.
Preferably, can select 2 angles to turn and corresponding 2 upper links, 2 lower links.Turn the machine of being respectively arranged in angle On the outside of the two of tool arm I and mechanical arm II connects bearings, its turning end is equipped with 1 through hole, is installed with taper roller in through hole Bearing, 2 rotating shafts are each passed through angle and turn the taper roller axle in the taper roll bearing internal ring and mechanical arm I connects bearings of inside Hold internal ring joint angle to turn and mechanical arm I.
Preferably, can respectively only with the connects bearing of 1 rotating shaft connection mechanical arm I, the connects bearing of mechanical arm II202 and Turn at angle.
Further, fixture mounting head is hollow structure, and two sides are similar trigonometric form structure.Mechanical arm II is pacified with fixture The connecting portion of dress head is the connects bearing of 2 extensions, the connects bearing of mechanical arm II and the side top of fixture mounting head it Between pass through rotating shaft and bearing and connect, by being articulated and connected between lower link and the side bottom of fixture mounting head.
Preferably, the top of fixture mounting head two sides is equipped with fixed installation taper roll bearing in perforate, perforate, turns Axle is connected by taper roll bearing internal ring mechanical arm II.
The course of work of the present utility model is:Base is fixedly installed on a rotatable rotating disk, by watching for base side Motor is taken by crank and kinematic link, drives mechanical arm II to realize the side-to-side movement of fixture mounting head;Watched by base opposite side Take the up and down motion that motor drive machinery arm I realizes robot, by angle turn with upper links and lower link connect base and Fixture mounting head.Robot under the control of external control system is capable of achieving fixture by lower link and mechanical arm II and installs Any mobile in the range of the arm exhibition of head and holding fixture mounting head is constantly in horizontal level, installs folder in fixture mounting head additional Tool, you can realize Automatic Code base function.
The utility model has the advantage of:With respect to existing setting machine, this utility model top fills two axle automatic setting machine devices Not only noise is little, mechanical vibration are little but also maintenance cost is low for people, and with higher work efficiency.
Description of the drawings
Fig. 1. this utility model top fills two axle automatic setting machine device people's structure charts,
Wherein:Base 100, servomotor 101, servomotor 102, actuating device 103, actuating device 104, crank 105, Mechanical arm I201, mechanical arm II202, upper links 301 and 302, lower link 401 and 402, kinematic link 500, angle turn 601 With 602 and fixture mounting head 700;
Fig. 2. this utility model top fills two axle automatic setting machine device people's explosive views,
Wherein:Base 100, servomotor 101, servomotor 102, fixing device 103A, decelerator 103B, fixing device 104A, decelerator 104B, crank 105, crossed roller bearing 106, flange 107, taper roll bearing 108, mechanical arm I201, Mechanical arm II202, taper roll bearing 203, rotating shaft 204, upper links 301 and 302, lower link 401 and 402, rod end are closed 601 and 602, taper roll bearing are turned in bearings 303 and 403, kinematic link 500, taper roll bearing 501, rotating shaft 502, angle 603rd, rotating shaft 604, fixture mounting head 700, taper roll bearing 701, rotating shaft 702.
Specific embodiment
In order that the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with accompanying drawing, to this reality Use new further description.It should be appreciated that specific embodiment described herein is only to explain this utility model, and It is not used in restriction this utility model.
According to one embodiment of the present utility model, as shown in figure 1, a kind of top fills two axle automatic setting machine device people, including: Base 100, servomotor 101, servomotor 102, actuating device 103, actuating device 104, crank 105, mechanical arm I201, machine Tool arm II202, upper links 301 and 302, lower link 401 and 402, kinematic link 500, angle turn 601 and 602 and fixture Mounting head 700.Wherein, motor 101 is fixedly installed on actuating device 103, and actuating device 103 is fixedly installed in base 100 Left side, motor 102 are fixedly installed on actuating device 104, and actuating device 104 is fixedly installed in the right side of base 100.Crank 105 are installed on inside mechanical arm I201 upper ends, and the upper end of crank 105 is connected with actuating device 104, lower end and kinematic link 500 It is flexibly connected, crank 105 can drive kinematic link 500 to do back and forth movement by actuating device 104 under the drive of motor 102. It is flexibly connected between the upper end of mechanical arm I201 and base 100, and is connected with actuating device 103, can be existed by actuating device 103 The drive lower edge of motor 101 is flexibly connected position rotation with base 100;The lower end of mechanical arm I201 is with mechanical arm II202's Upper end is flexibly connected, can driving mechanical arm II202 motions.The connection end of mechanical arm I201 and mechanical arm II202 is respective extension Two connects bearings, between two bearings using be flexibly connected mechanical arm I201 and mechanical arm II202 are linked together.Angle Turn 601 and 602 be respectively arranged on the outside of the two of mechanical arm I201 and mechanical arm II202 connecting portions and with mechanical arm I201 and machine Tool arm II202 connecting portions are flexibly connected.Mechanical arm II202 upper ends are flexibly connected with mechanical arm I201, and lower end is installed with fixture 700 are flexibly connected.500 one end of kinematic link is flexibly connected with crank 105, and the other end is flexibly connected with mechanical arm II202, is passed Dynamic connecting rod 500 can do back and forth movement by driving mechanical arm II202 under the drive of crank 105.The lower end and angle of upper links 301 601 flexible connections are turned, top is flexibly connected with the top left side of base 100;It is movable that the lower end of upper links 302 turns 602 with angle Connection, top is flexibly connected with the top right side of base 100.The top of lower link 401 is turned 601 with angle and is flexibly connected, lower end It is flexibly connected with 700 left side wall bottom of fixture mounting head;The top of lower link 402 is turned 602 with angle and is flexibly connected, lower end and folder 700 right side wall bottom of tool mounting head is flexibly connected.Fixture mounting head 700 is hollow structure, and two sides are similar trigonometric form structure. The connecting portion of mechanical arm II202 and fixture mounting head 700 is the connects bearing of 2 extensions, the connects bearing of mechanical arm II202 It is flexibly connected and the side top of fixture mounting head 700 between, a side of lower link 401 and 402 and fixture mounting head 700 It is flexibly connected between the bottom of face.Fixture mounting head 700 can be under the collective effect of mechanical arm II202 and lower link 401 and 402 Follow mechanical arm II202 motions and bottom surface points to vertical direction forever.
According to one embodiment of the present utility model, servomotor 101 and servomotor 102 select 4.4kW servomotors.
According to one embodiment of the present utility model, 2 sets of tumblers are can select, often cover actuating device correspondence at least 2 Motor, multiple motors provide power for actuating device jointly.
According to one embodiment of the present utility model, as shown in Fig. 2 actuating device 103 includes fixing device 103A and subtracts Fast device 103B, in the fixed installation of servomotor 101 and fixing device 103A, output shaft is connected with the input shaft of decelerator 103B, On left side wall of fixing device 103A by decelerator 103B fixed installations with base 100.Actuating device 104 includes fixing device 104A and decelerator 104B, in the fixed installation of servomotor 102 and fixing device 104A, the input of output shaft and decelerator 104B Axle connects, on right side wall of fixing device 104A by decelerator 104B fixed installations with base 100.Mechanical arm I201 one end central authorities Fluting is provided with, 105 top of crank is installed in fluting by crossed roller bearing 106.By mechanical arm I201, the end is divided into fluting The left and right sides, wherein side are directly fixedly connected with decelerator 103B;Opposite side is provided with groove, is installed with intersection in groove Roller bearing 106.The one end of the internal ring of sized cross roller bearings 106 inside mechanical arm I201 is fixed with 105 top of crank and is connected Connect, the other end is fixedly connected with flange 107.106 internal ring of sized cross roller bearings is fixed in one end to flange 107 respectively, the other end with Decelerator 104B is fixedly connected.Mechanical arm I201 passes through decelerator 103B, decelerator 104B, flange 107, sized cross roller bearings 100 bottom of base is loaded in 106, can be under the drive of decelerator 103B, the rotor shaft direction along decelerator 103B is rotated.Crank 105 bottoms are provided with axis hole, and axis hole is built with 2 taper roll bearings 108.500 two ends of kinematic link are each equipped with 2 connections Bearing, is equipped with axis hole, axis hole and crank 105 bottom of the rotating shaft 206 through 500 one end connects bearing of kinematic link in connects bearing The internal ring of end taper roll bearing 108 is connected with crank 105.The connection end of mechanical arm I201 and mechanical arm II202 is each outer Two connects bearings prolonged, are installed with taper roll bearing 203 in two connects bearings of mechanical arm I201, by turning Axle 204 connects two connects bearings of mechanical arm I201 and mechanical arm II202.Turn 601 and 602 and be respectively arranged in mechanical arm in angle On the outside of the two of I201 and mechanical arm II202 connecting portions, its turning end is equipped with 1 through hole, is installed with 2 circular cones in through hole Roller bearing 603,2 is each passed through angle with rotating shaft 604 and turns 603 internal ring of taper roll bearing and mechanical arm inside 601 and 602 The 601 and 602 company support outers for being connected to mechanical arm I201 are turned in angle by the bearing axis hole of I201.The lower end of upper links 301 601 are turned with angle to be articulated and connected by spherical plain bearing rod end 303, top passes through spherical plain bearing rod end with the top left side of base 100 303 are articulated and connected;The lower end of upper links 302 is turned 602 with angle and is articulated and connected by spherical plain bearing rod end 303, top and base 100 top right side is articulated and connected by spherical plain bearing rod end 303.601 are turned with angle and is closed by rod end in the top of lower link 401 Bearings 403 are articulated and connected, and lower end is articulated and connected by spherical plain bearing rod end 403 with 700 left side wall bottom of fixture mounting head;Under The top of portion's connecting rod 402 is turned 602 with angle and is articulated and connected by spherical plain bearing rod end 403, lower end and 700 right side wall of fixture mounting head Bottom is articulated and connected by spherical plain bearing rod end 403.Mechanical arm II202 two sides are provided with 3 pairs near one end of kinematic link 500 1 taper roll bearing 501, internal ring of the rotating shaft 502 through taper roll bearing 501 are respectively housed in perforate, one pair of which perforate Mechanical arm II202 is linked together with kinematic link 500 with the connects bearing axis hole of kinematic link 500.Fixture mounting head 700 For hollow structure, two sides are similar trigonometric form structure, and the top of its two sides and low side are equipped with perforate, solid in the perforate of top Dingan County is equipped with 2 taper roll bearings 701.The connecting portion of mechanical arm II202 and fixture mounting head 700 is the company of 2 extensions Connect bearing, 2 rotating shafts 702 are each passed through 701 internal ring of taper roll bearing and machine on two sides top of fixture mounting head 700 The connects bearing connection of tool arm II202.Between the perforate of two sides bottom of fixture mounting head 700 and portion's connecting rod 401 and 402 It is hinged by spherical plain bearing rod end 403.
The course of work of the present utility model is:Base 100 is fixedly installed on a rotatable rotating disk, by base 100 1 The servomotor 102 of side drives mechanical arm II202 to realize a left side for fixture mounting head 700 by crank 105 and kinematic link 500 Right motion;Drive mechanical arm I201 to realize the up and down motion of robot by 100 opposite side servomotor 101 of base, turned by angle 600 and upper links 300 and 400 connect base 100 of lower link and fixture mounting head 700.Robot is in external control system Control under, any shifting of the fixture mounting head 700 in the range of arm exhibition is capable of achieving by lower link 300 and mechanical arm II202 Move and holding fixture mounting head 700 is constantly in horizontal level, the adding clamp in fixture mounting head 700, you can realize automatic Code base function.
The utility model has the advantage of:With respect to existing setting machine, this utility model top fills two axle automatic setting machine devices Not only noise is little, mechanical vibration are little but also maintenance cost is low for people, and with higher work efficiency.
It should be noted that and understand, in the situation without departing from the spirit and scope required by this utility model claim Under, various modifications and improvements can be made to this utility model of foregoing detailed description.It is therefore desirable to the technical scheme of protection Scope is not limited by given any specific exemplary teachings.

Claims (9)

1. top fills two axle automatic setting machine device people, it is characterised in that include:Base, at least 2 motors, at least two sets transmission dresses Put, crank, mechanical arm I, mechanical arm II, at least one upper links, at least one lower link, kinematic link, at least one angle are turned And fixture mounting head;Wherein, motor is fixedly installed on two sides of base by actuating device;Loaded under base in crank Portion, its one end are connected with wherein a set of actuating device, and the other end is flexibly connected with kinematic link;The kinematic link other end and machinery Arm II is flexibly connected, and kinematic link can pass through the drive lower band motivation of crank and the actuating device that is connected with crank in corresponding motor Tool arm II does back and forth movement;Mechanical arm I one end is connected with another set of actuating device, by being loaded under base in the set actuating device Portion;The other end of mechanical arm I is flexibly connected with one end of mechanical arm II, the mechanical arm II other ends and the other end and fixture mounting head It is flexibly connected;Angle is also connected with the active connection part of mechanical arm I and mechanical arm II to turn, corner and mechanical arm that angle is turned I, mechanical arm II are flexibly connected;Upper links one end is turned with angle and is flexibly connected, and the other end is flexibly connected with base top;Bottom connects Bar one end is turned with angle and is flexibly connected, and the other end is flexibly connected with fixture mounting head;Fixture mounting head can be in mechanical arm II and bottom Mechanical arm II motions are followed under the collective effect of connecting rod and bottom surface points to same direction forever.
2. top fills two axle automatic setting machine device people according to claim 1, it is characterised in that the motor is watched from 4.4kW Take motor.
3. top fills two axle automatic setting machine device people according to claim 1, it is characterised in that between upper links and base, Between upper links are turned with angle, angle turn described flexible connection the between lower link and be rotating shaft and be connected, remaining described activity is even It is connected in and is connected by rotating shaft and bearing.
4. top fills two axle automatic setting machine device people according to claim 1, it is characterised in that the actuating device includes fixing Device and decelerator, wherein decelerator are fixedly installed on the side of base by fixing device.
5. top fills two axle automatic setting machine device people according to claim 4, it is characterised in that mechanical arm I one end central authorities are provided with Fluting, crank are installed in fluting by crossed roller bearing, and by mechanical arm I, the end is divided into the left and right sides, wherein side to fluting Directly it is fixedly connected with one of decelerator;Opposite side is provided with groove, is installed with sized cross roller bearings in groove;Intersect The internal ring of roller bearing is located at the one end inside mechanical arm and is fixedly connected with crank, and the other end is fixedly connected with flange;Flange one Sized cross roller bearings internal ring is fixed at end, and the other end is fixedly connected with another decelerator;Mechanical arm passes through 2 decelerators, methods Base bottom is loaded in blue and sized cross roller bearings.
6. top fills two axle automatic setting machine device people according to claim 1, it is characterised in that mechanical arm I and mechanical arm II it Between pass through rotating shaft and bearing and connect, be installed with taper roll bearing in the axis hole of mechanical arm I, rotating shaft is each passed through circular cone rolling The axis hole of the internal ring and mechanical arm II of sub- bearing, mechanical arm I and mechanical arm II are linked together.
7. top fills two axle automatic setting machine device people according to claim 6, it is characterised in that mechanical arm I and mechanical arm II's Connection end is two connects bearings of respective extension, is installed with taper roller axle in two connects bearings of mechanical arm I Hold, 2 rotating shafts are each passed through two bearing axis holes of the internal ring and mechanical arm II of taper roll bearing, by mechanical arm I and machinery Arm II links together.
8. top fills two axle automatic setting machine device people according to claim 7, it is characterised in that turn activity respectively from 2 angles The outside of mechanical arm I and two connects bearings of mechanical arm II is connected to, the turning end that angle is turned passes through rotating shaft and bearing with mechanical arm I Connection;Joint angle is turned and base respectively for two upper links;Joint angle is turned and fixture mounting head respectively for two lower links.
9. top fills two axle automatic setting machine device people according to claim 1, it is characterised in that the fixture mounting head is hollow Structure, two sides are similar trigonometric form structure;The connecting portion of mechanical arm II and fixture mounting head is the connection of 2 extensions Seat, passes through rotating shaft and bearing and connects between the side top of the connects bearing and fixture mounting head of mechanical arm II, lower link with By being articulated and connected between fixture mounting head.
CN201620769399.4U 2016-07-21 2016-07-21 Automatic ma pi robot of top mounted diaxon Expired - Fee Related CN206032721U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201620769399.4U CN206032721U (en) 2016-07-21 2016-07-21 Automatic ma pi robot of top mounted diaxon

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201620769399.4U CN206032721U (en) 2016-07-21 2016-07-21 Automatic ma pi robot of top mounted diaxon

Publications (1)

Publication Number Publication Date
CN206032721U true CN206032721U (en) 2017-03-22

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201620769399.4U Expired - Fee Related CN206032721U (en) 2016-07-21 2016-07-21 Automatic ma pi robot of top mounted diaxon

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106956788A (en) * 2017-04-28 2017-07-18 青岛海科佳电子设备制造有限公司 Weighing machine carefully claims manipulator automatic feeder
CN107640602A (en) * 2016-07-21 2018-01-30 宜宾诺菲特机器人制造有限公司 Top fills two axle automatic setting machine device people

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107640602A (en) * 2016-07-21 2018-01-30 宜宾诺菲特机器人制造有限公司 Top fills two axle automatic setting machine device people
CN106956788A (en) * 2017-04-28 2017-07-18 青岛海科佳电子设备制造有限公司 Weighing machine carefully claims manipulator automatic feeder
CN106956788B (en) * 2017-04-28 2023-07-14 青岛海科佳智能科技股份有限公司 Automatic feeding device for fine weighing manipulator of weighing machine

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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: 20170322

Termination date: 20180721

CF01 Termination of patent right due to non-payment of annual fee