CN206066437U - A kind of Yamaha positioning mechanical arm - Google Patents

A kind of Yamaha positioning mechanical arm Download PDF

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Publication number
CN206066437U
CN206066437U CN201621035057.6U CN201621035057U CN206066437U CN 206066437 U CN206066437 U CN 206066437U CN 201621035057 U CN201621035057 U CN 201621035057U CN 206066437 U CN206066437 U CN 206066437U
Authority
CN
China
Prior art keywords
workpiece
transverse slat
yamaha
mechanical arm
positioning mechanical
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
CN201621035057.6U
Other languages
Chinese (zh)
Inventor
秦元新
张利华
刘又川
陈金勇
秦涛
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.)
Huizhou Xingyuan Automation Equipment Co ltd
Original Assignee
Huizhou Xingyuan Automation Equipment 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 Huizhou Xingyuan Automation Equipment Co ltd filed Critical Huizhou Xingyuan Automation Equipment Co ltd
Priority to CN201621035057.6U priority Critical patent/CN206066437U/en
Application granted granted Critical
Publication of CN206066437U publication Critical patent/CN206066437U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a kind of Yamaha positioning mechanical arm, including body, four axle robots are installed with the body, the bottom of the four axles robot is installed with expansion link, the top of the expansion link is provided with machine vision CCD, hold-down mechanism is installed with the left of the transverse slat bottom, workholding jaw is installed with the right side of the transverse slat bottom, the bottom of the hold-down mechanism is provided with drain board, and the first workpiece, second workpiece and the 3rd workpiece are respectively arranged with the top of the drain board.The Yamaha positioning mechanical arm, by the improvement to machine vision CCD, the whether qualified effect of inspection workpiece is reached, consequently facilitating the detection to workpiece is processed, the detection quality of workpiece is also substantially increased, the use of user is facilitated, it has been also convenient for the processing to workpiece, so as to the working (machining) efficiency portion that improve workpiece is installed with transverse slat, montant at the top of the transverse slat, is installed with, the top of the montant is fixed.

Description

A kind of Yamaha positioning mechanical arm
Technical field
This utility model is related to mechanical hand technical field, specially a kind of Yamaha positioning mechanical arm.
Background technology
Mechanical hand refers to some holding functions that can imitate staff and arm, to by fixed routine crawl, carry object or The automatic pilot of operation instrument, mechanical hand are the industrial robots for occurring earliest, and the modern machines people for occurring earliest, It can replace the heavy labor of people to realize mechanization and the automatization of production, can operate to protect personal peace under hostile environment Entirely, thus be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy, with the development of network skill, machine The direction that the networking operation problem of tool handss develops after being also, industrial robot is a kind of high-tech that recent decades grow up Automated production equipment, industry mechanical arm be industrial robot an important branch, its feature be can by program come Various expected job tasks are completed, and people and the respective advantage of machine are had concurrently on construction and performance, are especially embodied the intelligence of people Energy and adaptability, the ability fulfiled assignment in the accuracy of mechanical manual task and various environment, have in all fields of national economy Vast potential for future development.
Mechanical hand is a kind of new device grown up during mechanization, automated production, in modern production mistake Cheng Zhong, mechanical hand are widely applied in automatic assembly line, and the development and production of robot have become in high-tech sector, fast The emerging technology that speed grows up, it more promotes the development of mechanical hand so that mechanical hand can be better achieved with Mechanization and the combination of automatization, although mechanical hand is flexible like that not as good as staff, it has can continuous repeated work And work, do not know fatigue, be fearless of danger, the characteristics of the strength of snatch weight is bigger than people hand-power, therefore, mechanical hand has been subject to many The attention of department, and applied more and more widely, China's plastics machinery has become machinery manufacturing industry row with fastest developing speed One of industry, annual requirement are constantly being increased.The high speed development of China's plastics machinery industry mainly has following two big factors:One It is to the renewal of the equipment that brought of demand of high technology content equipment and eliminating for obsolete equipment;Two is plastic processing industry through the country High speed development, to the in great demand of plastics machinery.
But mechanical hand in the market, during being use, it is difficult to carry out detection and localization to processing article, so as to The efficiency of machining is reduced, the use of the person of being not convenient to use also reduces the working (machining) efficiency of machinery, while also greatly improving Processing cost.
Utility model content
(1) technical problem for solving
For the deficiencies in the prior art, this utility model provides a kind of Yamaha positioning mechanical arm, solves mechanical hand It is difficult to the problem of detection and localization.
(2) technical scheme
To realize object above, this utility model is achieved by the following technical programs:A kind of Yamaha positioning mechanical Handss, including body, the side of body are installed with material conveying box, are installed with four axle robots on the body, and described four The bottom of axle robot is installed with expansion link, and transverse slat, the top of the transverse slat are installed with the top of the expansion link Montant is installed with, machine vision CCD, the left side fixed installation of the transverse slat bottom at the top of the montant, is installed with There is hold-down mechanism, on the right side of the transverse slat bottom, be installed with workholding jaw, the bottom of the hold-down mechanism is provided with flowing water Plate, is respectively arranged with the first workpiece, second workpiece and the 3rd workpiece at the top of the drain board.
Preferably, the side of first workpiece, second workpiece and the 3rd workpiece is installed with alignment pin, and positions The quantity of pin is three.
Preferably, the quantity of the workholding jaw is two, and two workholding jaws are symmetrically distributed in the bottom of transverse slat.
Preferably, the side of the body is installed with material conveying box.
(3) beneficial effect
This utility model provides a kind of Yamaha positioning mechanical arm.Possesses following beneficial effect:
(1) whether qualified, the Yamaha positioning mechanical arm, by the improvement to machine vision CCD, reached inspection workpiece Effect, consequently facilitating processing to the detection of workpiece, also substantially increase the detection quality of workpiece, facilitate making for user With being also convenient for the processing to workpiece, so as to improve the working (machining) efficiency of workpiece.
(2), the Yamaha positioning mechanical arm, by the improvement to workholding jaw, has reached the effect being clamped to workpiece Really, so as to avoid workpiece that loosening is produced during processing, the processing to workpiece is facilitated, so as to improve during work pieces process Stability, facilitate the use of user, also improve the working (machining) efficiency of workpiece.
Description of the drawings
Fig. 1 is this utility model structural representation;
Fig. 2 is the structure schematic diagram that this utility model ties four axle robots;
Structural representations of the Fig. 3 for the first workpiece of this utility model;
Structural representations of the Fig. 4 for this utility model second workpiece;
Structural representations of the Fig. 5 for the 3rd workpiece of this utility model.
In figure:1 body, 2 four axle robots, 3 expansion links, 4 transverse slats, 5 montants, 6 machine vision CCD, 7 hold-down mechanisms, 8 works Part jaw, 9 drain boards, 10 first workpiece, 11 alignment pins, 12 second workpieces, 13 the 3rd workpiece, 14 material conveying box.
Specific embodiment
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out Clearly and completely describe, it is clear that described embodiment is only this utility model a part of embodiment, rather than whole Embodiment.Based on the embodiment in this utility model, those of ordinary skill in the art are not under the premise of creative work is made The every other embodiment for being obtained, belongs to the scope of this utility model protection.
Fig. 1-5 are referred to, this utility model provides a kind of technical scheme:A kind of Yamaha positioning mechanical arm, including body 1, the side of body 1 is installed with 14 body 1 of material conveying box and is installed with four axle robots 2, the bottom of four axle robots 2 Expansion link 3 is installed with, the setting of expansion link 3 is easy to the flexible of device, so as to facilitate the normal work of the mechanical hand, is stretched The top of contracting bar 3 is installed with transverse slat 4, and the top of transverse slat 4 is installed with montant 5, and the top fixed installation of montant 5 is organic Device vision CCD6, the setting of transverse slat 4 and montant 5 have reached the effect for facilitating machine vision CCD6 to be fixed, so as to maintain The effect that machine vision CCD6 is fixed, be installed with hold-down mechanism 7 on the left of 4 bottom of transverse slat, hold-down mechanism 7 sets Put, reached the effect compressed to workpiece, facilitate the use of device, transverse slat workpiece clamp to be installed with the right side of 4 bottom Pawl 8, the quantity of workholding jaw 8 are two, and two workholding jaws 8 are symmetrically distributed in the bottom of transverse slat 4, and workholding jaw 8 sets Put, clamping when facilitating work pieces process to workpiece, the bottom of hold-down mechanism 7 is provided with drain board 9, the top point of drain board 9 First workpiece 10, second workpiece 12 and the 3rd workpiece 13 are not provided with, the first workpiece 10, second workpiece 12 and the 3rd workpiece 13 Side is installed with alignment pin 11, and the quantity of alignment pin 11 is three, and the setting of alignment pin 11 facilitates machine vision CCD6 carries out positioning of taking pictures, so as to the convenient positioning to workpiece is processed.
When deployed, four axle robots 2 are taken pictures by machine vision CCD6 before grabbing workpiece, first whether check product It is qualified, the location of workpiece and jaw crawl position are then calculated, coordinate parameters is sent to four axle robots 2 then, if not Certified products, then the temporary position of defective work is put into after workpiece grabbing, if certified products, then to move to working position attached for grabbing workpiece Closely, then machine vision CCD6 is taken pictures to working position alignment pin 11 again, calculates 11 position of alignment pin and parameter is passed to four Axle robot 2, four axle robots 6 calculate required each difference when workpiece is installed and mend according to the location of workpiece and the position of alignment pin 11 Value, is then moved by each difference value, workpiece is installed to tram.
In sum, the Yamaha positioning mechanical arm, by the improvement to machine vision CCD6, having reached inspection workpiece is No qualified effect, consequently facilitating the detection to workpiece is processed, also substantially increases the detection quality of workpiece, facilitates user Use, be also convenient for the processing to workpiece, so as to improve the working (machining) efficiency of workpiece, by the improvement to workholding jaw 8, reached To the effect being clamped to workpiece, so as to avoid workpiece that loosening is produced during processing, facilitate and workpiece is added Work, so as to improve stability during work pieces process, facilitates the use of user, also improves the working (machining) efficiency of workpiece.
While there has been shown and described that embodiment of the present utility model, for the ordinary skill in the art, Be appreciated that these embodiments can be carried out various changes in the case of without departing from principle of the present utility model and spirit, repair Change, replace and modification, scope of the present utility model is defined by the appended claims and the equivalents thereof.

Claims (4)

1. a kind of Yamaha positioning mechanical arm, including body (1), it is characterised in that:Four axles are installed with the body (1) Robot (2), the bottom of the four axles robot (2) are installed with expansion link (3), and the top of the expansion link (3) is fixed Transverse slat (4) is installed, montant (5) is installed with the top of the transverse slat (4), is installed with the top of the montant (5) Machine vision CCD (6), is installed with hold-down mechanism (7), the right side of transverse slat (4) bottom on the left of transverse slat (4) bottom Side is installed with workholding jaw (8), and the bottom of the hold-down mechanism (7) is provided with drain board (9), the drain board (9) Top is respectively arranged with the first workpiece (10), second workpiece (12) and the 3rd workpiece (13).
2. a kind of Yamaha positioning mechanical arm according to claim 1, it is characterised in that:First workpiece (10), The side of two workpiece (12) and the 3rd workpiece (13) is installed with alignment pin (11), and the quantity of alignment pin (11) is three It is individual.
3. a kind of Yamaha positioning mechanical arm according to claim 1, it is characterised in that:The number of the workholding jaw (8) Measure as two, and two workholding jaws (8) are symmetrically distributed in the bottom of transverse slat (4).
4. a kind of Yamaha positioning mechanical arm according to claim 1, it is characterised in that:The side of the body (1) is solid Dingan County is equipped with material conveying box (14).
CN201621035057.6U 2016-08-31 2016-08-31 A kind of Yamaha positioning mechanical arm Expired - Fee Related CN206066437U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201621035057.6U CN206066437U (en) 2016-08-31 2016-08-31 A kind of Yamaha positioning mechanical arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201621035057.6U CN206066437U (en) 2016-08-31 2016-08-31 A kind of Yamaha positioning mechanical arm

Publications (1)

Publication Number Publication Date
CN206066437U true CN206066437U (en) 2017-04-05

Family

ID=58436851

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201621035057.6U Expired - Fee Related CN206066437U (en) 2016-08-31 2016-08-31 A kind of Yamaha positioning mechanical arm

Country Status (1)

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CN (1) CN206066437U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108274294A (en) * 2017-12-29 2018-07-13 科大天工智能装备技术(天津)有限公司 A kind of 3D printing numerically-controlled machine tool handling equipment and its application method

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108274294A (en) * 2017-12-29 2018-07-13 科大天工智能装备技术(天津)有限公司 A kind of 3D printing numerically-controlled machine tool handling equipment and its application method

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GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20170405

Termination date: 20200831

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