CN206105838U - Multi freedom loading -unloading machine hand - Google Patents
Multi freedom loading -unloading machine hand Download PDFInfo
- Publication number
- CN206105838U CN206105838U CN201621097167.5U CN201621097167U CN206105838U CN 206105838 U CN206105838 U CN 206105838U CN 201621097167 U CN201621097167 U CN 201621097167U CN 206105838 U CN206105838 U CN 206105838U
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- China
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- horizontal
- telescopic arm
- turntable
- driving means
- chassis
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Abstract
The utility model discloses a multi freedom loading -unloading machine hand, including horizontal rectilinear movement mechanism, manipulator telescopic machanism and horizontal rotation mechanism, horizontal rectilinear movement mechanism includes horizontal slide rail, chassis and a drive arrangement, and install on the horizontal slide rail on the chassis, horizontal rotation mechanism includes center pin, revolving stage and the 2nd drive arrangement, and the lower extreme of center pin is adorned admittedly on the chassis, its upper end is through horizontal toothed disc and revolving stage coupling, and the revolving stage is connected with the 2nd drive arrangement, manipulator telescopic machanism installs in the top of revolving stage, and is equipped with vertical lift mechanism between revolving stage and manipulator telescopic machanism. The utility model discloses a horizontal rectilinear movement mechanism, horizontal rotation mechanism and the vertical lift mechanism that sets up has realized the left and right sides, from top to bottom and the rotation of level 360 degrees of gripper, can be to the picking of the how automatic degree of goods, and simple structure, flexible operation are applicable to small -size places such as the less warehouse of activity space, goods stock and store yard, and it is laborsaving to save trouble, is favorable to the popularization.
Description
Technical field
The utility model is related to a kind of manipulator, and in particular to a kind of multiple degrees of freedom assembling and disassembling manipulator.
Background technology
With the development of science and technology, enterprise production process applies to various automated machines.The appearance of Intelligentized mechanical is not only
Can effectively reduce enterprise recruitment cost, can also improve production efficiency, obtain the favor of many large enterprises.In the market
Intelligentized mechanical equipment arrives greatly full-automatic production equipment, little to one manipulator, no matter from function, model and volume size etc.
Have a lot.For example existing port and pier, train logistics, bulk storage plant and other items loading and unloading typically can using fork truck come
Carry out.But for goods stock, small depot and other places, because mobilizable space is smaller, other are more large-scale for fork truck etc.
Handling machinery is not simultaneously applied to；Additionally, in the warehouse of some middle-size and small-size transport enterprise and the express company of rising in recent years, vehicle
The handling and short-range carrying work of the place to goods such as upper, stockyard are completed by manpower, cause workman's work
Make to work powerful, operating efficiency slowly, also increase the incidence of security incident.
For above-mentioned situation, can be by realizing that the intelligence to goods carries work using manipulator.Existing manipulator
Structure is more complicated, and the free degree of manipulator is relatively limited, it is impossible to enough capture the article in optional position and orientation.Such as Granted publication
Number disclose a kind of novel automatic Manipulator Transportation device for the Chinese utility model patent of 205471602U, its base it is upper
End is provided with straight-line motion mechanism, and the upper end of straight-line motion mechanism is provided with servomotor, and the upper end of servomotor is provided with PLC
Control module；Slide block is installed on the side wall of straight-line motion mechanism, is pacified on the outer wall of the structure of linear motion matched with slide block
Equipped with sensor；Crossbeam is horizontally installed with slide block, first connecting rod, the end activity peace of first connecting rod are installed with crossbeam
Equipped with second connecting rod, the end of second connecting rod is provided with rocking arm, and the lower end of rocking arm is provided with grip bracket, and grip bracket is sleeved on
The outside of slide block, the end of slide block is provided with adsorption magnet；The lower end of crossbeam is also equipped with frequency converter.The manipulator of this kind of structure
Although intelligence degree is high, upper and lower, front and back position conversion can only be carried out, the free degree is relatively limited, it is impossible to meet removing for goods
Fortune, the requirement of handling.
Utility model content
For above-mentioned deficiency, the purpose of this utility model is to provide a kind of energy arbitrary orientation grasp handling goods, knot
The multiple degrees of freedom assembling and disassembling manipulator that structure is simple, intelligence degree is high, it can preferably solve warehouse, vehicle, stockyard etc. can live
The problem with handling inconvenience is carried to goods in the less place in dynamic space.
To solve the above problems, the utility model is achieved through the following technical solutions：
Multiple degrees of freedom assembling and disassembling manipulator, including horizontal linear travel mechanism and manipulator telescoping mechanism, also revolve including level
Rotation mechanism, the horizontal linear travel mechanism includes horizontal slide rail, chassis and the first driving means for driving chassis to move,
The chassis is installed on horizontal slide rail；The horizontal rotary mechanism include central shaft, turntable and the second driving means, it is described in
The lower end of heart axle is installed on chassis, its upper end is connect by horizontal teeth wheel disc and turntable axle, the turntable and the second driving means
Connect and in the presence of the second driving means around central axis；The manipulator telescoping mechanism be installed on turntable top,
And it is provided with a vertical lifting mechanism between turntable and manipulator telescoping mechanism.
In such scheme, the manipulator telescoping mechanism include telescopic arm fixed mount, telescopic arm, gripper, expansion link and
The 3rd driving means being connected with expansion link, one end of telescopic arm is installed in the chute of telescopic arm fixed mount, its other end with
Gripper connects, and one end of expansion link is connected with telescopic arm fixed mount, its other end is fixed in the front end of telescopic arm, on gripper
It is connected with the controller for control machine machinery claw opening and closing.
In such scheme, further, the vertical lifting mechanism may include to be vertically directed rail, elevating lever and and elevating lever
The four-drive device of connection, the lower end of elevating lever is installed on turntable, its apical support in the bottom of telescopic arm fixed mount, erect
Directly one end of guided way is installed on turntable, its other end passes through the housing of telescopic arm fixed mount.
In such scheme, the 3rd driving means and four-drive device are motor or hydraulic cylinder, i.e. expansion link with lifting
The expanding-contracting action of bar is realized by the driving of motor or hydraulic cylinder.
In such scheme, in order to prevent chassis from skidding off horizontal slide rail when horizontal linear is moved, can be the two of horizontal slide rail
End is equipped with limited block.
In such scheme, second driving means can be stepper motor, can drive turntable rotation in the horizontal direction
Turn 0-360 degree.
The beneficial effects of the utility model are：
The utility model realizes the horizontal linear movement of whole manipulator by the horizontal linear travel mechanism for arranging, and passes through
Horizontal rotary mechanism realizes the omnibearing movement of the level of gripper, and by vertical lifting mechanism the upper-lower position of gripper is realized
Movement, and pass through the flexible grasping movement that manipulator telescoping mechanism realizes gripper itself.The manipulator of this structure has upper
Under, the rotational freedom of left and right and horizontal 360-degree, the crawl of any level orientation angles can be carried out to goods, structure letter
List, flexible operation, intelligence degree are high, it is adaptable to the small-sized place such as the less warehouse of activity space, goods stock and stockyard
In, save trouble and labor is conducive to promoting.
Description of the drawings
Fig. 1 is the structural representation of this multiple degrees of freedom assembling and disassembling manipulator.
Fig. 2 is flexible grasping mechanism structural representation in a contracted state.
Fig. 3 is structural representation of the flexible grasping mechanism under elongation state.
Figure number is numbered：1st, horizontal slide rail；2nd, chassis；3rd, central shaft；4th, turntable；5th, elevating lever；6th, it is vertically directed rail；7、
Expansion link；8th, telescopic arm fixed mount；9th, telescopic arm；10th, gripper；11st, limited block.
Specific embodiment
As shown in figure 1, multiple degrees of freedom assembling and disassembling manipulator, including horizontal linear travel mechanism and manipulator telescoping mechanism, also
Including horizontal rotary mechanism.Horizontal linear travel mechanism includes horizontal slide rail 1, chassis 2 and for driving the movement of chassis 2 first
Driving means, the chassis 2 is installed on horizontal slide rail 1.Limited block 11 is equipped with the two ends of horizontal slide rail 1.The present embodiment
In, institute's first driving means can be miniature motor or motor, naturally it is also possible to without the need for arranging driving means, promote flat by artificial
Platform movement on horizontal slide rail also may be used.
The horizontal rotary mechanism includes central shaft 3, the driving means of turntable 4 and second, and the lower end of the central shaft 3 is fixedly mounted with
On chassis 2, its upper end connect by horizontal teeth wheel disc and the axle of turntable 4, the turntable 4 is connected and with the second driving means
Rotate around central shaft 3 in the presence of two driving means.In the present embodiment, second driving means be stepper motor, the stepping
Motor can drive the rotation 0-360 degree in the horizontal direction of turntable 4 by its internal controller.Specifically can be in stepper motor
Connect a deceleration device on output shaft, deceleration device is connected again with horizontal teeth wheel disc.
The manipulator telescoping mechanism is installed on the top of turntable 4 and is provided between turntable 4 and manipulator telescoping mechanism
One vertical lifting mechanism.The manipulator telescoping mechanism includes telescopic arm fixed mount 8, telescopic arm 9, gripper 10, the and of expansion link 7
The 3rd driving means being connected with expansion link 7, one end of telescopic arm 9 is installed in the chute of telescopic arm fixed mount 8, its other end
It is connected with gripper 10, one end of expansion link 7 is connected with telescopic arm fixed mount 8, its other end is fixed in the front end of telescopic arm 9.
The controller for the opening and closing of control machine machinery claw 10 is connected with gripper 10.As shown in Fig. 2 being to stretch grasping mechanism contraction-like
Structural representation under state；As shown in figure 3, for flexible structural representation of the grasping mechanism under elongation state.
The vertical lifting mechanism includes the four-drive device for being vertically directed rail 6, elevating lever 5 and being connected with elevating lever 5,
The lower end of elevating lever 5 is installed on turntable 4, its apical support is in the bottom of telescopic arm fixed mount 8；It is vertically directed one end of rail 6
Be installed on turntable 4, its other end through telescopic arm fixed mount 8 housing.
In the present embodiment, the 3rd driving means and four-drive device are motor or hydraulic cylinder.
The utility model operationally, 1) first according to the actual putting position of goods, opens first driving means, chassis
2 move horizontally on horizontal slide rail 1；The second driving means are controlled again, make turntable 4 turn to proper angle around around central shaft 3；So
After start four-drive device, make elevating lever 5 by telescopic arm fixed mount 8 be promoted to goods place height；Then the 3rd is controlled
Driving means work, and make expansion link 7 do stretching motion, so as to drive telescopic arm 9 to do expanding-contracting action, make gripper 10 move to goods
Position；Finally, goods is captured by controller；2) in step 1) after the crawl that completes to goods, by by controlling phase
The driving means answered, goods is carried/put to specified location, that is, complete the short-haul operation to goods or loading and unloading.
Explanation embodiment of the present utility model is these are only, the utility model is not limited to, for this area
It is all within spirit of the present utility model and principle for technical staff, any modification, equivalent substitution and improvements made etc.,
Should be included within protection domain of the present utility model.
Claims (6)
1. multiple degrees of freedom assembling and disassembling manipulator, including horizontal linear travel mechanism and manipulator telescoping mechanism, it is characterised in that：Also wrap
Include horizontal rotary mechanism, the horizontal linear travel mechanism includes horizontal slide rail (1), chassis (2) and for driving chassis (2) to move
Dynamic first driving means, the chassis (2) is installed on horizontal slide rail (1)；The horizontal rotary mechanism includes central shaft
(3), turntable (4) and the second driving means, the lower end of the central shaft (3) is installed on chassis (2), its upper end passes through horizontal teeth
Wheel disc connects with turntable (4) axle, and the turntable (4) is connected and in the presence of the second driving means in the second driving means
Heart axle (3) is rotated；The manipulator telescoping mechanism is installed on the top of turntable (4) and in turntable (4) and manipulator telescoping mechanism
Between be provided with a vertical lifting mechanism.
2. multiple degrees of freedom assembling and disassembling manipulator according to claim 1, it is characterised in that：The manipulator telescoping mechanism includes
Telescopic arm fixed mount (8), telescopic arm (9), gripper (10), expansion link (7) and the 3rd driving dress being connected with expansion link (7)
Put, one end of telescopic arm (9) is installed in the chute of telescopic arm fixed mount (8), its other end is connected with gripper (10), flexible
One end of bar (7) is connected with telescopic arm fixed mount (8), its other end is fixed in the front end of telescopic arm (9), and gripper connects on (10)
It is connected to the controller for control machine machinery claw (10) opening and closing.
3. multiple degrees of freedom assembling and disassembling manipulator according to claim 2, it is characterised in that：The vertical lifting mechanism includes perpendicular
Straight guided way (6), elevating lever (5) and the four-drive device being connected with elevating lever (5), the lower end of elevating lever (5) is installed in and turns
On platform (4), its apical support in the bottom of telescopic arm fixed mount (8), be vertically directed one end of rail (6) be installed on turntable (4),
Housing of its other end through telescopic arm fixed mount (8).
4. the multiple degrees of freedom assembling and disassembling manipulator according to Claims 2 or 3, it is characterised in that：3rd driving means and the 4th
Driving means are motor or hydraulic cylinder.
5. multiple degrees of freedom assembling and disassembling manipulator according to claim 1, it is characterised in that：It is equal at the two ends of horizontal slide rail (1)
It is provided with limited block (11).
6. multiple degrees of freedom assembling and disassembling manipulator according to claim 1, it is characterised in that：Second driving means are stepping
Motor, can drive turntable (4) rotation 0-360 degree in the horizontal direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621097167.5U CN206105838U (en) | 2016-09-28 | 2016-09-28 | Multi freedom loading -unloading machine hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621097167.5U CN206105838U (en) | 2016-09-28 | 2016-09-28 | Multi freedom loading -unloading machine hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206105838U true CN206105838U (en) | 2017-04-19 |
Family
ID=58522400
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621097167.5U Expired - Fee Related CN206105838U (en) | 2016-09-28 | 2016-09-28 | Multi freedom loading -unloading machine hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206105838U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272360A (en) * | 2016-09-28 | 2017-01-04 | 钦州学院 | Multiple degrees of freedom assembling and disassembling manipulator |
| CN117506471A (en) * | 2024-01-05 | 2024-02-06 | 蜂鸟智造(成都)科技有限公司 | Modularized pilot scale production line based on intelligent equipment production assembly |
-
2016
- 2016-09-28 CN CN201621097167.5U patent/CN206105838U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272360A (en) * | 2016-09-28 | 2017-01-04 | 钦州学院 | Multiple degrees of freedom assembling and disassembling manipulator |
| CN117506471A (en) * | 2024-01-05 | 2024-02-06 | 蜂鸟智造(成都)科技有限公司 | Modularized pilot scale production line based on intelligent equipment production assembly |
| CN117506471B (en) * | 2024-01-05 | 2024-04-23 | 蜂鸟智造(成都)科技有限公司 | Modularized pilot scale production line based on intelligent equipment production assembly |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20170419 Termination date: 20180928 |