CN207326969U - A kind of four axis tow-armed robot of space and its Scroll handler - Google Patents
A kind of four axis tow-armed robot of space and its Scroll handler Download PDFInfo
- Publication number
- CN207326969U CN207326969U CN201720452874.XU CN201720452874U CN207326969U CN 207326969 U CN207326969 U CN 207326969U CN 201720452874 U CN201720452874 U CN 201720452874U CN 207326969 U CN207326969 U CN 207326969U
- Authority
- CN
- China
- Prior art keywords
- limited block
- motor
- gear reducer
- axis
- mechanical arm
- 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.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
A kind of Scroll handler, including rack, and it is arranged on the four axis tow-armed robot of space in rack, the four axis tow-armed robot of space includes symmetrically arranged two manipulators, manipulator includes first mechanical arm component, be sequentially connected the second mechanical arm component on first mechanical arm component, and it is fixed at the claw on second mechanical arm component, first mechanical arm component includes the first motor, first gear reducer and the first revoliving arm, first revoliving arm is sequentially connected by the first gear reducer and the first motor, second mechanical arm component includes the second motor, second gear reducer and the second revoliving arm, second motor and the second gear reducer are fixed on the first revoliving arm, second revoliving arm is sequentially connected by the second gear reducer and the second motor.A kind of Scroll handler described in the utility model, is the replacement that Scroll on multiple working positions can be achieved using a set of four axis tow-armed robot of space, simple in structure, reduces complete machine cost.
Description
Technical field
The utility model is related to the cutting devices for taking-up of strip-shaped material, more particularly to a kind of four axis tow-armed robot of space and
Its Scroll handler.
Background technology
Cutting machine is a kind of mechanical equipment by wide cut paper, mica tape or film dividing into a plurality of narrow material, existing
The cutting machine of in the market realizes the handling of Scroll typically by swinging mechanical hand, however, since cutting machine is usually set
The handling of a Scroll, the winding of every cutting machine can only be realized by being equipped with two working positions, a set of swinging mechanical hand up and down
Axis handler need to match somebody with somebody more set swinging mechanical hands, cause complete machine cost higher.
Utility model content
For overcome the deficiencies in the prior art, the purpose of this utility model is to provide a kind of four axis tow-armed robot of space
And its Scroll handler, it is the replacement that Scroll on multiple working positions can be achieved using a set of manipulator.
To solve the above problems, technical solution is as follows used by the utility model：
A kind of four axis tow-armed robot of space, including symmetrically arranged two manipulators, the manipulator include the first machine
Tool arm component, be sequentially connected the second mechanical arm component on first mechanical arm component, and is fixed at second mechanical arm group
Claw on part, the first mechanical arm component include the first motor, the first gear reducer and the first revoliving arm, and described first slows down
The output shaft of machine and the first motor is sequentially connected, and first revoliving arm is sequentially connected by the first gear reducer and the first motor,
The second mechanical arm component includes the second motor, the second gear reducer and the second revoliving arm, second gear reducer and the second electricity
The output shaft of machine is sequentially connected, and second motor and the second gear reducer are fixed on the first revoliving arm, described second time
Pivoted arm is sequentially connected by the second gear reducer and the second motor.
Further, first motor and the second motor are servomotor.
Further, the claw includes the fixing bracket being fixed on the second revoliving arm, is arranged on the fixation
Driving mechanism and linkage on stent, the fixing bracket include supporting part, and the supporting part includes fixed plate, and sets
The first limited block and the second limited block in fixed plate are put, the driving mechanism includes cylinder and drive rod, and the cylinder is set
Put on the fixing bracket, the piston rod connection of described drive rod one end and cylinder, the other end sequentially passes through the first limited block
With the second limited block, the linkage includes handgrip part and connecting rod, and the handgrip part is rotatably arranged in fixed plate, described
One end of connecting rod and the end of handgrip part are hinged, and the other end is hinged on the drive rod between the first limited block and the second limited block
On, when handgrip part is in closure state, the hinged place of connecting rod and drive rod is supported in the first limited block or the second limited block
On, the extended line of the connecting rod, is less than or equal to opening the angle between the direction to be run of handgrip part drive rod
90°。
Further, the linkage further includes the 3rd limited block, and the 3rd limited block is fixed at the first limit
On drive rod between position block and the second limited block, one end and the end of handgrip part of the connecting rod are hinged, the other end and the
Three limited blocks are hinged.
Further, axis hole, two axis hole coaxial lines, driving are offered on first limited block and the second limited block
Bar is sequentially passed through by axis hole to be arranged on the first limited block and the second limited block.
Further, the fixing bracket further includes the air cylinder fixed plate for being fixed at supporting part one end, the cylinder
It is fixed in air cylinder fixed plate.
A kind of Scroll handler, including above-mentioned four axis tow-armed robot of space.
Further, a kind of Scroll handler further includes organic frame, the multiple working positions being arranged in rack,
And the dismounting position of rack side and position to be installed are arranged on, first motor and the first gear reducer are fixed at machine by flange
On frame, two manipulators can capture Scroll, and be moved on dismounting position, position to be installed or each working position.
Compared with prior art, the beneficial effects of the utility model are：A kind of Scroll handling described in the utility model
Device, realizes claw between multiple working positions by motor, gear reducer and revoliving arm and moves, utilize a set of space four
Axis tow-armed robot is the replacement that Scroll on multiple working positions can be achieved, simple in structure, and control accuracy is high, greatly reduces whole
Machine cost.
Brief description of the drawings
Fig. 1 shows the structure diagram of Scroll handler described in the utility model；
Fig. 2 shows the partial cutaway view schematic of Scroll handler shown in Fig. 1；
Fig. 3 shows the structure diagram under the another kind state of Scroll handler shown in Fig. 1；
Fig. 4 shows the structure diagram of the claw of Scroll handler shown in Fig. 2；
Fig. 5 shows the sectional view of claw shown in Fig. 4；
Fig. 6 shows the structure diagram of the supporting part of claw shown in Fig. 4.
Wherein, 1 is rack, and 2 be dismounting position, and 3 be position to be installed, and 4 be the first working position, and 5 be the second working position, and 6 be winding
Axis, 7 be manipulator, and 71 be first mechanical arm component, and 711 be the first motor, and 712 be the first gear reducer, and 713 be the first revolution
Arm, 72 be second mechanical arm component, and 721 be the second motor, and 722 be the second gear reducer, and 723 be the second revoliving arm, and 73 be claw,
731 be air cylinder fixed plate, and 732 be supporting part, and 7321 be fixed plate, and 7322 be the first limited block, and 7323 be the second limited block,
7324 be axis hole, and 7325 be axle sleeve, and 733 be cylinder, and 734 be drive rod, and 735 be handgrip part, and 736 be connecting rod, and 737 be the 3rd
Limited block.
Embodiment
The utility model is described in further detail with reference to the accompanying drawings and detailed description.
As shown in Figure 1, a kind of Scroll handler described in the utility model is used to load and unload Scroll 6, the winding
Axis handler includes organic frame 1, the four axis tow-armed robot of space being arranged in rack 1, the multiple works being arranged in rack 1
Make position, and be arranged on the dismounting position 2 of 1 side of rack and position 3 to be installed.In the present embodiment, the working position is two, is respectively the
One working position 4 and the second working position 5, first working position 4 on the second working position 5 with that can drive Scroll 6 to work respectively.
As shown in Fig. 2, the four axis tow-armed robot of space includes two manipulators 7 being symmetricly set in rack 1, institute
Stating manipulator 7 includes being arranged on first mechanical arm component 71 in rack 1, be sequentially connected on first mechanical arm component 71 the
Two robot assemblies 72, and the claw 73 being fixed on second mechanical arm component 72.The first mechanical arm component 71 wraps
The first motor 711, the first gear reducer 712 and the first revoliving arm 713 are included, first gear reducer 712 is defeated with the first motor 711
Shaft is sequentially connected, and 711 and first gear reducer 712 of the first motor is fixed in rack 1 by flange, and described first
One end of revoliving arm 713 is sequentially connected by the first gear reducer 712 and the first motor 711.The second mechanical arm component 72 wraps
The second motor 721, the second gear reducer 722 and the second revoliving arm 723 are included, second gear reducer 722 is defeated with the second motor 721
Shaft is sequentially connected, and it is remote that 721 and second gear reducer 722 of the second motor by flange is fixed at the first revoliving arm 713
From one end of the first gear reducer 712, second revoliving arm 723 is connected by the second gear reducer 722 and the transmission of the second motor 721
Connect.First motor, 711 and second motor 721 is servomotor, has small, light-weight, torque stabilization, and control is accurate
The advantages that.First gear reducer, 712 and second gear reducer 722 can be by 721 output shaft of the first motor 711 and the second motor
High-speed rotation changes into the smooth rotation of the first revoliving arm 713 and the second revoliving arm 723 respectively.
As illustrated in figures 4-5, the claw 73 includes the fixing bracket being fixed on the second revoliving arm 723, is arranged on
Driving structure and link mechanism on the fixing bracket.The fixing bracket includes air cylinder fixed plate 731, and is fixed at
The supporting part 732 of 731 one end of air cylinder fixed plate.The air cylinder fixed plate 731 takes the shape of the letter U.As shown in fig. 6, the supporting part 732 wraps
Two fixed plates 7321 being arranged in parallel are included, and the first limited block 7322 and the second limited block being arranged between two fixed plates 7321
7323, the first limited block 7322 and the second limited block 7323 are respectively positioned at the opposite both ends of fixed plate 7321.First limited block
7322 and second all offer axis hole 7324 on limited block 7323, two 7324 coaxial lines of axis hole, are provided with axis in axis hole 7324
Set 7325.
The driving structure includes being fixed at the cylinder 733 of 731 other end of air cylinder fixed plate, and one end passes through connection
Part is threaded in the drive rod 734 on 733 piston rod of cylinder, and the other end of the drive rod 734 runs through air cylinder fixed plate
731, sequentially pass through the axis hole 7324 on the first limited block 7322 and the second limited block 7323.The axle sleeve 7325 is set in driving
On bar 734,734 transverse shifting of drive rod is prevented.It is appreciated that the cylinder 733 can also be hydraulic cylinder, or electric expansion dress
Put.
The link mechanism includes being symmetricly set on a pair of of handgrip part 735 of 734 both sides of drive rod and is symmetricly set on drive
A pair of of connecting rod 736 of 734 both sides of lever, and the 3rd limited block 737 being fixed on drive rod 734.3rd limit
Between the first limited block 7322 and the second limited block 7323, the 3rd limited block 737 mutually hangs down with drive rod 734 for position block position 737
Directly.One end of two connecting rods 736 is respectively hinged at the both ends of the 3rd limited block 737, the other end and the handgrip part of connecting rod 736
735 end is hinged, and the 3rd limited block 737 can be supported on the first limited block 7322 or the second limited block 7323.Institute
State 735 part of handgrip part to be arranged in supporting part 732, the handgrip part 735 is rotatably arranged in fixed plate 7321.
When the claw 73 works, drive rod 734 is pushed and pulled by cylinder 733, drive rod 734 drives the 3rd limited block 737
Moved between the first limited block 7322 and the second limited block 7323, the 3rd limited block 737 drives handgrip part by connecting rod 736
735 rotate, so as to reach the process of opening and closing claw 73；When the 3rd limited block 737 is supported when on the second limited block 7323, two grab
Hand part 735 is in open mode；Drive rod 734 drives the 3rd limited block 737 to be moved to the first limited block 7322, two handgrip parts
735 start to close；When the operation of the 3rd limited block 737 until when two connecting rods 736 are on same straight line, at the link mechanism
In dead-centre position；When the 3rd limited block 737 is supported when on the first limited block 7322, two handgrip parts 735 close, and pick up and wait to take
Thing, the angle between the direction that the extended line and drive rod 734 of connecting rod 736 extend to the second limited block 7323 are equal to or smaller
In 90 °, the handgrip 73 realizes self-locking；At this time, if cylinder 733 runs out of steam, handgrip part 735 has under the action of object gravity
There is the trend of opening, connecting rod 736 promotes the 3rd limited block 737 to be moved toward 7322 direction of the first limited block, due to the 3rd spacing
Block 737 is supported by the first limited block 7322 so that handgrip part 735 can not open, and prevent object from dropping；Cylinder 733 recovers power
Afterwards, drive rod 734 is promoted, you can open claw 73.
A kind of Scroll handler described in the utility model, during work, Scroll 6 is in the first working position 4 and second
Working position 5 works；As shown in figure 3, when needing replacing new Scroll 6, worked by cylinder 733 and open claw 73, two machines
The first motor 711 and the second motor 721 of tool hand 7 rotate, and first is driven by the first gear reducer 712 and the second gear reducer 722
713 and second revoliving arm 723 of revoliving arm moves, so as to control claw 73 to be moved to the first working position 4；Claw 73 is closed, gripping
The Scroll 6 of finished product, and realize self-locking；First motor 711 and the second motor 721 control claw 73 are moved to dismounting position 2, open
Claw 73, puts down finished product Scroll 6；Claw 73 is moved to position 3 to be installed, grips new Scroll 6, and be moved to the first work
Position 4, puts down new Scroll 6, so as to complete the replacement of Scroll 6 in the first working position 4；Similarly, repeat the above steps, complete
The replacement of the Scroll 6 of second working position 5, so as to complete whole replacement process.
A kind of Scroll handler described in the utility model, claw is realized by motor, gear reducer and revoliving arm
73 move between multiple working positions, can be achieved to wind on multiple working positions using a set of four axis tow-armed robot of space
The replacement of axis 6, simple in structure, control accuracy is high, greatly reduces complete machine cost；Claw 73 utilizes the dead point of the link mechanism
Position, the movement of drive rod 734 and connecting rod 736 is limited by the first limited block 7322 so that claw 73 is in crawl Scroll 6
Self-locking afterwards, handgrip part 735 does not unclamp after cylinder 733 runs out of steam, and prevents object from dropping, and ensure that production stablizes progress.
It will be apparent to those skilled in the art that technical solution that can be as described above and design, make other various
Corresponding change and deformation, and all these changes and deformation should all belong to the protection of the utility model claims
Within the scope of.
Claims (8)
- A kind of 1. four axis tow-armed robot of space, it is characterised in that：Including symmetrically arranged two manipulators (7), the machinery Hand (7) includes first mechanical arm component (71), the second mechanical arm component being sequentially connected on first mechanical arm component (71) (72), and the claw (73) that is fixed on second mechanical arm component (72), the first mechanical arm component (71) includes the One motor (711), the first gear reducer (712) and the first revoliving arm (713), first gear reducer (712) and the first motor (711) output shaft is sequentially connected, and first revoliving arm (713) is passed by the first gear reducer (712) and the first motor (711) Dynamic connection, the second mechanical arm component (72) include the second motor (721), the second gear reducer (722) and the second revoliving arm (723), the output shaft of second gear reducer (722) and the second motor (721) is sequentially connected, second motor (721) and Second gear reducer (722) is fixed on the first revoliving arm (713), and second revoliving arm (723) passes through the second gear reducer (722) it is sequentially connected with the second motor (721).
- A kind of 2. four axis tow-armed robot of space according to claim 1, it is characterised in that：First motor (711) And second motor (721) be servomotor.
- A kind of 3. four axis tow-armed robot of space according to claim 1, it is characterised in that：The claw (73) includes solid Surely the fixing bracket being arranged on the second revoliving arm (723), the driving mechanism being arranged on the fixing bracket and linkage, The fixing bracket includes supporting part (732), and the supporting part (732) includes fixed plate (7321), and is arranged on fixed plate (7321) the first limited block (7322) and the second limited block (7323) on, the driving mechanism include cylinder (733) and driving Bar (734), the cylinder (733) are arranged on the fixing bracket, described drive rod (734) one end and the work of cylinder (733) Stopper rod connects, and the other end sequentially passes through the first limited block (7322) and the second limited block (7323), and the linkage includes grabbing Hand part (735) and connecting rod (736), the handgrip part (735) are rotatably arranged in fixed plate (7321), the connecting rod (736) end of one end and handgrip part (735) is hinged, and the other end is hinged on the first limited block (7322) and the second limited block (7323) on the drive rod (734) between, when handgrip part (735) is in closure state, connecting rod (736) and drive rod (734) hinged place is supported on the first limited block (7322) or the second limited block (7323), and connecting rod (736) prolong Long line, the angle with opening between handgrip part (735) drive rod (734) direction to be run are less than or equal to 90 °.
- A kind of 4. four axis tow-armed robot of space according to claim 3, it is characterised in that：The linkage further includes 3rd limited block (737), the 3rd limited block (737) are fixed at the first limited block (7322) and the second limited block (7323) on the drive rod (734) between, one end and the end of handgrip part (735) of the connecting rod (736) are hinged, the other end It is hinged with the 3rd limited block (737).
- A kind of 5. four axis tow-armed robot of space according to claim 3, it is characterised in that：First limited block (7322) and on the second limited block (7323) axis hole (7324), two axis hole (7324) coaxial lines, drive rod (734) are offered Sequentially passed through and be arranged on the first limited block (7322) and the second limited block (7323) by axis hole (7324).
- A kind of 6. four axis tow-armed robot of space according to claim 3, it is characterised in that：The fixing bracket further includes The air cylinder fixed plate (731) of supporting part (732) one end is fixed at, the cylinder (733) is fixed at air cylinder fixed plate (731) on.
- A kind of 7. Scroll handler, it is characterised in that：It is double including four axis of the claims 1-6 any one of them space Arm robot.
- A kind of 8. Scroll handler according to claim 7, it is characterised in that：Organic frame (1) is further included, is arranged on Multiple working positions in rack (1), and it is arranged on the dismounting position (2) and position to be installed (3) of rack (1) side, first motor (711) it is fixed at the first gear reducer (712) in rack (1), two manipulators (7) can capture Scroll (6), And it is moved to dismounting position (2), on position to be installed (3) or each working position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720452874.XU CN207326969U (en) | 2017-04-26 | 2017-04-26 | A kind of four axis tow-armed robot of space and its Scroll handler |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720452874.XU CN207326969U (en) | 2017-04-26 | 2017-04-26 | A kind of four axis tow-armed robot of space and its Scroll handler |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207326969U true CN207326969U (en) | 2018-05-08 |
Family
ID=62376173
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720452874.XU Active CN207326969U (en) | 2017-04-26 | 2017-04-26 | A kind of four axis tow-armed robot of space and its Scroll handler |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207326969U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107030677A (en) * | 2017-04-26 | 2017-08-11 | 常州永盛新材料装备股份有限公司 | A kind of the axle tow-armed robot of space four and its Scroll handler |
-
2017
- 2017-04-26 CN CN201720452874.XU patent/CN207326969U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107030677A (en) * | 2017-04-26 | 2017-08-11 | 常州永盛新材料装备股份有限公司 | A kind of the axle tow-armed robot of space four and its Scroll handler |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206029936U (en) | Novel industrial robot gripper | |
| CN201357413Y (en) | Clamping manipulator | |
| CN104495517B (en) | A kind of automatic disk discharging system for being used to produce enamel-covered wire | |
| CN106514681A (en) | Combined gripper for engine cylinder head | |
| CN1903519A (en) | Robot mechanism able to achieve full circle rotation and four-freedom hybrid grasping/releasing | |
| CN203557394U (en) | Swing type gripper and stacker crane equipped with swing type gripper | |
| CN207172067U (en) | A kind of wheel captures truss manipulator | |
| CN101513734A (en) | Synchronous robot group with single task | |
| CN208131326U (en) | A kind of reciprocal feeding manipulator | |
| CN207326969U (en) | A kind of four axis tow-armed robot of space and its Scroll handler | |
| CN108544518A (en) | A kind of active double mode rope driving the five fingers flexible manipulator | |
| CN207016355U (en) | A kind of crane grabbing device | |
| CN216067510U (en) | One-to-two manipulator | |
| CN208614783U (en) | A kind of multi-functional carrying robot device | |
| CN104209958A (en) | Transfer robot special for press | |
| CN204123407U (en) | A kind of forcing press Special handling robot | |
| CN113830550A (en) | Material taking and stacking manipulator of plastic inspection well injection molding machine | |
| CN108098752B (en) | Automatic dismounting device of polycrystalline silicon rod | |
| CN206383133U (en) | A kind of manipulator | |
| CN107030677A (en) | A kind of the axle tow-armed robot of space four and its Scroll handler | |
| CN213769188U (en) | Ton bag packagine machine cable suspension device | |
| CN105773583B (en) | A kind of four station manipulators | |
| CN205184232U (en) | Automatic article device of being temporarily released from one's regular work | |
| CN216464730U (en) | Power assembly for industrial robot operation and maintenance equipment | |
| CN210210387U (en) | Intelligent mechanical manufacturing gripping device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |