CN207669328U - A kind of 5-linked sucker arm-and-hand system - Google Patents
A kind of 5-linked sucker arm-and-hand system Download PDFInfo
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- CN207669328U CN207669328U CN201721588608.6U CN201721588608U CN207669328U CN 207669328 U CN207669328 U CN 207669328U CN 201721588608 U CN201721588608 U CN 201721588608U CN 207669328 U CN207669328 U CN 207669328U
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Abstract
The utility model discloses a kind of 5-linked sucker arm-and-hand system, including track is set a roof beam in place mechanism and five sucker manipulators.The track mechanism that sets a roof beam in place includes horizontal balance beam.Sucker machinery hand includes translation frame plate, elevating mechanism and sucking disc mechanism.Translation frame plate is stuck in by oblique clip wheel mechanism on water balance top surface of the beam and the trapezoidal wheel track of bottom surface setting, and can be translated in the horizontal balance beam of driving lower edge of translation mechanism.It is provided with interlocking bar between the translation frame plate of five sucker manipulators so that the spacing between five sucker manipulators is fixed, and five sucker manipulators are equidistantly arranged.Sucking disc mechanism is mounted on by elevating mechanism on translation frame plate so that sucking disc mechanism can lift under the driving of the elevating mechanism.Elevating mechanism is the elevating mechanism of three times line increment journey.
Description
Technical field
The utility model is related to sucker manipulators, more particularly to the sucker manipulator in freezer liner bottom plate rivet line.
Background technology
Freezer liner bottom plate rivet line is riveted for degree of lip-rounding coaming plate and Z-shaped bottom plate, which includes that there are six works
Position.To ensure that productive temp, six stations of freezer liner need synchronous interaction, it is therefore desirable to 5-linked sucker manipulator.Due to five
A sucker machinery palmistry connects, therefore common sliding rail mode and rack pinion type of drive is not applicable.Under sliding rail mode, five
Frictional force between sucker manipulator and sliding rail is larger, it is difficult to driving translation.In addition, what each sucker manipulator grasped is cold
Cabinet liner and non-tablet have comparable height.Freezer liner needs to be put on station from top to bottom by sucker manipulator
In process equipment, cause sucker machinery on hand the lower stroke lifted need it is very big, at least need it is double in freezer liner from height
Degree.If the design method of the sucker manipulator using this common cylinder lifting, it is desirable that cylinder oneself height is very high.One side
Face, it is very high that this requires the translation track of sucker manipulator to set up, and on the other hand, a very high cylinder of the height set up vertically exists
Translation is carried out on translation track and needs very high upper down space, is a prodigious obstruction for Sheet Metal Processing line.For this purpose, inhaling
The lifting of disk manipulator is preferably able to be designed to telescopic lifting, thus avoids translation track from setting up excessively high, sucker manipulator needs
Will be very high upper down space the problem of.Patent document CN 206306138U disclose a kind of based on travel multiplier translation mechanism
Sucker manipulator.Wherein travel multiplier translation mechanism is a telescopic translation mechanism, therefore can be by this travel multiplier
Translation mechanism is designed to that vertical mode to the elevating mechanism as travel multiplier, realizes the telescopic liter of this sucker manipulator
Drop.But the trip multiplication translation mechanism needs two toothed racks and gear composition gear mechanism to there are problems that following three:First
It is that the gear travel multiplier mechanisms size that two racks for being oppositely arranged and being meshed with intermediate gear are formed is larger, is inhaling
It can not be applicable in disk manipulator.Second is that assembly precision is more demanding, and two rack requirements being oppositely arranged are strictly parallel, slightly
There is error that intermediate gear will be made to be stuck between two toothed racks.Third is that the mechanism is Double-stroke mechanism, and expansion ratio is not
Foot, in sucker manipulator, sucker manipulator whole height to remain unchanged very high.
Invention content
Problem to be solved in the utility model:Design one kind can be used between six stations of freezer liner bottom plate rivet line
The elevating mechanism of the 5-linked sucker manipulator of synchronous interaction, sucker manipulator can be lifted in a manner of more times of strokes, and
And require between five sucker manipulators and translation track friction is small to be translated in order to which translation mechanism drives.
To solve the above problems, the scheme that the utility model uses is as follows:
A kind of 5-linked sucker arm-and-hand system, including track are set a roof beam in place mechanism and five sucker manipulators;Track is set a roof beam in place mechanism
Including horizontal balance beam and the rail mechanism in horizontal balance beam and translation mechanism;The sucker machinery hand includes pan carriage
Plate, elevating mechanism and sucking disc mechanism;It translates frame plate to be mounted on the rail mechanism, and connects the translation mechanism so that institute
Stating translation frame plate can be translated in the horizontal balance beam of driving lower edge of the translation mechanism;The pan carriage of five sucker manipulators
Interlocking bar is provided between plate so that the spacing between five sucker manipulators is fixed, and so that between five sucker manipulators etc.
Away from arrangement;Sucking disc mechanism is mounted on by the elevating mechanism on translation frame plate so that sucking disc mechanism can be in the elevator
It is lifted under the driving of structure;The elevating mechanism includes the first crane, the second crane, third crane, the first synchronous belt machine
Structure and the second synchronous belt mechanism;First crane is mounted on translation frame plate, and can be relative to translation frame plate lifting;Second
Crane is mounted on the first crane, and can be lifted relative to the first crane;Third crane is mounted on the second lifting
On frame, and it can be lifted relative to the second crane;First synchronous belt mechanism includes the be mounted on the first crane
Synchronous pulley and first time synchronous pulley on one;Synchronous pulley and first time synchronous pulley are respectively arranged on the first crane on first
Upper and lower ends;On first the first synchronous belt is arranged on synchronous pulley and first time synchronous pulley;It is set around on first synchronous
The side of the first synchronous belt on belt wheel and first time synchronous pulley is fixed on the first fixing piece, and the other side passes through the first connection
Block is connected with the second crane;First fixing piece is fixed on translation frame plate;Second synchronous belt mechanism includes being mounted on the
On two cranes second on synchronous pulley and second time synchronous pulley;Synchronous pulley and second time synchronous pulley difference on second
Set on the upper and lower ends of the second crane;On second the second synchronous belt is arranged on synchronous pulley and second time synchronous pulley;Around
The side of the second synchronous belt on synchronous pulley on second and second time synchronous pulley is fixed on the second fixing piece, another
Side is connected by the second link block with third crane;Second fixing piece is fixed on the first crane;Sucking disc mechanism is mounted on
The bottom end of third crane;First crane is connected with lift drive mechanism.
Further, there are two first synchronous belt mechanisms;Two the first synchronous belt mechanisms are respectively arranged on the second crane
Both sides.
Further, further include two track frames;Two the first synchronous belt mechanisms are separately mounted in two track frames;Track
The second vertical lifting sliding rail is installed on the inside of frame;Second crane is held on the second lifting of two track frames by sliding block
Between sliding rail.
Further, the front of the second crane is provided with vertical third sliding rail;Third sliding rail is made of two one slide rails;
Third crane is mounted on by sliding block on third sliding rail;Second synchronous belt mechanism is located between two one slide rails of third sliding rail;
The both sides for the second synchronous belt being set around on second on synchronous pulley and second time synchronous pulley are located at the second crane
Front and back;Second fixing piece is located at the back side of the second crane;Second link block is located at the front of the second crane, and position
In the back side of third crane.
Further, the lift drive mechanism includes lifting motor, drive coordination belt wheel, pulls synchronous belt;It pulls and synchronizes
The upper and lower ends of band are mutually fixed by upper dragging fixing piece and lower dragging fixing piece with the first crane respectively;Pull synchronous belt
Centre is wound on after bypassing two tensioning wheels on drive coordination belt wheel so that it is in omega structure to pull synchronous belt;Drive coordination belt wheel and
Lifting motor is connected.
Further, the rail mechanism includes two trapezoidal wheel tracks;Two trapezoidal wheel tracks are respectively arranged in along horizontal balance beam
The top and bottom of horizontal balance beam;The translation mechanism includes translation motor and translation synchronous belt;It translates synchronous belt and is mounted on water
On the toothed belt wheel of the both ends setting of equalizer bar, and connect translation frame plate;The toothed belt wheel of horizontal balance beam one end connects translation motor;It is flat
The back side for moving frame plate is equipped with oblique clip wheel mechanism;Translation frame plate is stuck in water balance top surface of the beam by oblique clip wheel mechanism and bottom surface is arranged
Trapezoidal wheel track on.
Further, trapezoidal wheel track includes two idler wheel inclined-planes;Oblique clip wheel mechanism includes rolling wheel support and at least two oblique rollings
Wheel;Rolling wheel support is mounted on translation frame plate;Oblique idler wheel is mounted on rolling wheel support;Two oblique idler wheels are respectively stuck in respectively
On idler wheel inclined-plane.
Further, there are four oblique clip wheel mechanisms;Liang Gexie clip wheels mechanism is stuck in the trapezoidal wheel track on the top surface of horizontal balance beam
On, Liang Gexie clip wheels mechanism is stuck on the trapezoidal wheel track on the bottom surface of horizontal balance beam;Oblique idler wheel in oblique clip wheel mechanism has four
It is a;Two oblique idler wheels are stuck on the idler wheel inclined-plane of trapezoidal wheel track side, and the oblique idler wheel of another two is stuck in the trapezoidal wheel track other side
Idler wheel inclined-plane on.
Further, oblique clip wheel mechanism further includes trapezoidal fixture block;Trapezoidal fixture block is equipped with trapezoidal bayonet, and passes through the trapezoidal card
Mouth is stuck on trapezoidal wheel track.
Further, the horizontal sextant angle on idler wheel inclined-plane is 45 degree;The vertical angle in oblique idler wheel axle center is 45 degree.
The technique effect of the utility model is as follows:
1, the utility model structure design is exquisite, and the second crane double can be lifted in the first crane, third lifting
Frame can be three times in the lifting of the first crane, to realize telescopic lifting so that the whole height of sucker manipulator is lifting
One third height after frame elongation.
2, the method for clamping between oblique clip wheel mechanism and trapezoidal wheel track makes the frictional force between sucker manipulator and track
It is smaller.
Description of the drawings
Fig. 1 is the overall structure diagram of the utility model embodiment.
Fig. 2 is that the enlarged drawing after track supporting rack and sucking disc mechanism is hidden in Fig. 1.
Fig. 3 is the enlarged drawing that horizontal gird is equipped with translation motor one end in Fig. 2.
Fig. 4 is the end view for translating frame plate and being mounted on horizontal gird.
Fig. 5 is the cross section structure schematic diagram of trapezoidal wheel track.
Fig. 6 is structural schematic diagram when sucking disc mechanism rises in sucker manipulator.
Fig. 7 is structural schematic diagram when sucking disc mechanism declines in sucker manipulator.
Fig. 8 is the front view of sucker manipulator elevating mechanism.
Fig. 9 is the cross section view of sucker manipulator elevating mechanism.
Figure 10 is the rear view of sucker manipulator elevating mechanism.
Figure 11 is the easy structure schematic diagram of sucker manipulator elevating mechanism.
Specific implementation mode
The utility model is described in further details below in conjunction with the accompanying drawings.
As shown in Figure 1 and Figure 2, a kind of 5-linked sucker arm-and-hand system, including track are set a roof beam in place mechanism and five sucker machineries
Hand.The track mechanism that sets a roof beam in place includes horizontal balance beam 2 and the rail mechanism in horizontal balance beam 2 and translation mechanism.Horizontal balance beam 2
On track supporting rack 29, vacantly and in level.Five sucker manipulators are respectively 1A, 1B, 1C, 1D and 1E.Sucker machine
Tool hand 1A, 1B, 1C, 1D and 1E are mounted on horizontal gird 2, equidistant arrangement, and can be synchronized and be moved along horizontal gird 2.
As shown in Figure 3, Figure 4, rail mechanism includes two trapezoidal wheel tracks 21.Two trapezoidal wheel tracks 21 divide along horizontal balance beam 2
It is not installed on the top and bottom of horizontal balance beam 2.The cross section of trapezoidal wheel track 21 is trapezoidal, as shown in figure 5, oblique including two idler wheels
Face 211 and middle top surface 212.It is in 35 degree to 55 degree angles, preferably 45 degree of angles between idler wheel inclined-plane 211 and middle top surface 212.Ladder
The bottom surface of shape wheel track 21 is wide compared with middle top surface 212, is in contact with the top surface of horizontal balance beam 2 or bottom surface.Translation mechanism includes translation
Motor 22 and translation synchronous belt 23.As shown in Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, sucker machinery hand includes translation frame plate
19, elevating mechanism and sucking disc mechanism.Sucking disc mechanism is mounted on by elevating mechanism on translation frame plate 19, including 181 He of suction cup carrier
Vacuum cup 182 in suction cup carrier 181.It translates synchronous belt 23 and is mounted on the toothed belt wheel that the both ends of horizontal balance beam 2 are arranged
On, and fixed with translation 19 phase of frame plate by translating the synchronous belt fixture block 26 on frame plate 19.The toothed belt wheel of 2 one end of horizontal balance beam connects
Connect translation motor 22.24 be toothed belt wheel case in Fig. 3, and toothed belt wheel is equipped in toothed belt wheel case 24.Toothed belt wheel case 24 is set to horizontal gird 2
End.Translation motor 22 is mounted on toothed belt wheel case 24, and connects the toothed belt wheel in toothed belt wheel case 24.Translate the back of the body of frame plate 19
Face is equipped with oblique clip wheel mechanism 25.Translation frame plate 19 is stuck in the setting of 2 top and bottom of horizontal balance beam by oblique clip wheel mechanism 25
On trapezoidal wheel track 21 so that translation frame plate 19 can be translated along horizontal gird 2.Oblique clip wheel mechanism 25, such as Fig. 4, Figure 10
It is shown, including rolling wheel support 251, at least two oblique idler wheels 252 and trapezoidal fixture block 253.Rolling wheel support 252 is mounted on translation
The back side of frame plate 19.Oblique idler wheel 252 is diagonally-installed on rolling wheel support 251.Two oblique idler wheels 252 are in a manner of scissors mouth
It is respectively stuck on idler wheel inclined-plane 211 respectively.That is, the water of the vertical angle and idler wheel inclined-plane 211 in 252 axle center of oblique idler wheel
Flat angle has equal angular.That is, the vertical angle in 252 axle center of oblique idler wheel is 35 ~ 55 degree, preferably 45 degree.
In the present embodiment, there are four the oblique clip wheel mechanisms 25 that translate the back side of frame plate 19, two upper, two under.On
The Liang Gexie clip wheels mechanism 25 of side is stuck on the trapezoidal wheel track 21 on the top surface of horizontal balance beam 2, the Liang Gexie clip wheels mechanism of lower section
25 are stuck on the trapezoidal wheel track 21 on the bottom surface of horizontal balance beam 2.There are four oblique idler wheels 252 in oblique clip wheel mechanism 25.Two
Oblique idler wheel 252 is stuck on the idler wheel inclined-plane 211 of 21 side of trapezoidal wheel track, and the oblique idler wheel of another two 252 is stuck in trapezoidal wheel track 21
On the idler wheel inclined-plane 211 of the other side.There are two trapezoidal fixture blocks 253 in oblique clip wheel mechanism 25.Two trapezoidal fixture blocks 253 are pacified respectively
Mounted in the both ends of rolling wheel support 251.Trapezoidal fixture block 253 is equipped with the trapezoidal bayonet to match with trapezoidal wheel track 21, and by trapezoidal
Bayonet is stuck on trapezoidal wheel track 21.As shown in Figure 6, Figure 7, it is provided with interlocking bar between the translation frame plate 19 of five sucker manipulators
191 so that the spacing between five sucker manipulators is fixed.As a result, when translation motor 22 drives translation to synchronize by toothed belt wheel
When band 23 moves, translation synchronous belt 23 drives translation frame plate 19 to move by synchronous belt fixture block 26, and then drives sucker manipulator
It is mobile.Since five sucker manipulator spacing are fixed, five sucker manipulator synchronizing movings.
Elevating mechanism is the elevating mechanism of three times line increment journey, including the first crane 11, the second crane 12, third liter
Frame 13, the first synchronous belt mechanism, the second synchronous belt mechanism and lift drive mechanism drop.Sucking disc mechanism is mounted on third crane
13 bottom end.First crane 11 is mounted on translation frame plate 19, and can be lifted relative to translation frame plate 19.Specifically,
The back side of first crane 11 is provided with the first vertical lifting sliding rail 111, and the front of translation frame plate 19 is provided with sliding block, and first
Crane 11 is erected at by first lifting sliding rail 111 at the back side on the sliding block of translation frame plate 19 so that 11 energy of the first crane
It is enough to be lifted relative to translation frame plate 19.First crane 11 connects lift drive mechanism.Lift drive mechanism is for driving
First crane 11 lifts, including lifting motor 168, drive coordination belt wheel 161, dragging synchronous belt 163.Pull synchronous belt 163
Upper and lower ends fixed respectively with 11 phase of the first crane by upper dragging fixing piece 1621 and lower dragging fixing piece 1622.On drag
It drags fixing piece 1621 and lower dragging fixing piece 1622 is located at 11 upper and lower side of the first crane.Pull the centre of synchronous belt 163
Around being wound on drive coordination belt wheel 161 after two tensioning wheels 164 so that it is in omega structure to pull synchronous belt 163.Drive coordination band
Wheel 161 is connected with lifting motor 168.Drive coordination belt wheel 161 and lifting motor 168 are mounted on pan carriage by bearing block 169
The back side of plate 19.Tensioning wheel 164 and drive coordination belt wheel 161 are set in transmission case 1611.As a result, when lifting motor 168 can
The first crane 11 is pulled by dragging synchronous belt 163 to lift along the first lifting sliding rail 111.
Second crane 12 is mounted on the first crane 11, and can be lifted relative to the first crane 11.It is specific next
It says, there are two vertical track frames 14 for the positive both sides installation of the first crane 11.The inside of two track frames 14 is equipped with perpendicular
The second straight lifting sliding rail 141.The second lifting that second crane 12 is held on two track frames 14 by the second sliding block 121 is slided
Between rail 141 so that the second crane 12 can be lifted along the second lifting sliding rail 141.It is set respectively within two track frames 14
There is the first synchronous belt mechanism.First synchronous belt mechanism includes being mounted on the first crane 11, and be located within track frame 14
Synchronous pulley 1421 and first time synchronous pulley 1422 on first.Synchronous pulley 1421 and first time synchronous pulley 1422 on first
The upper and lower ends of the first crane 11 are respectively arranged on, that is, being respectively arranged on the upper and lower ends of track frame 14.Synchronous pulley on first
1421 and first time synchronous pulley 1422 on be arranged with the first synchronous belt 143.It is set around synchronous pulley 1421 and first on first
The outside of the first synchronous belt 143 on lower synchronous pulley 1422 is fixed on the first fixing piece 144, and inside passes through the first link block
145 are connected with the second crane 12.First fixing piece 144 is fixed on translation frame plate 19.As a result, when lift drive mechanism drives
When first crane 11 lifts, since 144 position of the first fixing piece is fixed so that synchronous pulley 1421 and first is similarly hereinafter on first
Step belt wheel 1422 is moved relative to the first fixing piece 144.First fixing piece 144 adds at a distance from synchronous pulley on first 1421
Synchronous pulley 1421 and the sum of the distance of the first link block 145 always remain unchanged on first.1421 phase of synchronous pulley on first
First link block 145 is moved relative to synchronous pulley 1421 on first also to be necessarily meant that for the movement of the first fixing piece 144.
That is when the first crane 11 lifts, the first synchronous belt 143 of the left and right sides pull the first link block 145 relative to
First crane 11 lifts, and then pulls the second crane 12 and lifted relative to the first crane 11.Second crane, 12 phase
It is always identical relative to the installation adjustable height of frame plate 19 as the first crane 11 for the adjustable height of the first crane 11.This
Also imply that, the second crane 12 relative to installation frame plate 19 adjustable height always the first crane 11 relative to installation frame plate
Twice of 19 adjustable height.
Third crane 13 is mounted on the second crane 12, and can be lifted relative to the second crane 12.Second liter
The front of drop frame 12 is provided with vertical third sliding rail 151.Third crane 13 is mounted on third sliding rail by the second sliding block 131
On 151 so that third crane 13 can be lifted along river third sliding rail 151.Third sliding rail 151 is made of two one slide rails.The
Two synchronous belt mechanisms are located between two one slide rails of third sliding rail 151, include same on second on the second crane 12
Walk belt wheel 1521 and second time synchronous pulley 1522.Synchronous pulley 1521 and second time synchronous pulley 1522 are respectively arranged on second
The upper and lower ends of second crane 12.Second to be arranged on synchronous pulley 1521 and second time synchronous pulley 1522 synchronous on second
Band 153.Second synchronous belt 153 is arranged across the second crane 12, it is, the side of the second synchronous belt 153 is located at the second lifting
The front of frame 12, the other side are located at the back side of the second crane 12.Side positioned at 12 back side of the second crane, the second synchronous belt
153 are fixed on the second fixing piece 154.Positioned at 12 positive side of the second crane, third is connected by the second link block 155
Crane 13.Second link block 155 is located at the back side of third crane 13.Second fixing piece 154 is fixed on the first crane 11
On.As a result, when the first synchronous belt 143 pulls the lifting of the second crane 12, due to 154 position of the second fixing piece and first liter
It drops frame 11 to fix so that synchronous pulley 1521 and second time synchronous pulley 1522 are moved relative to the second fixing piece 154 on second.
Second fixing piece 154 adds synchronous pulley 1521 and the second link block 155 on second at a distance from synchronous pulley on second 1521
Sum of the distance always remain unchanged.Synchronous pulley 1521 is also necessarily meant that relative to the movement of the second fixing piece 154 on second
Second link block 155 is moved relative to synchronous pulley 1521 on second.That is, when the second crane 12 lifts, second
Synchronous belt 153 pulls the second link block 155 and is lifted relative to the second crane 12, and then it is opposite to pull third crane 13
It is lifted in the second crane 12.Third crane 13 relative to the second crane 12 adjustable height always with the second crane 12
Adjustable height relative to the first crane 11 is identical.This also means that third crane 13 is relative to the first crane 11
Adjustable height always twice of adjustable height relative to the first crane 11 of the second crane 12, also implies that, third lifting
Frame 13 relative to installation frame plate 19 adjustable height always the first crane 11 relative to installation frame plate 19 adjustable height three
Times.
Claims (10)
1. a kind of 5-linked sucker arm-and-hand system, which is characterized in that set a roof beam in place mechanism and five sucker manipulators including track;Track
The mechanism that sets a roof beam in place includes horizontal balance beam (2) and rail mechanism and translation mechanism in horizontal balance beam (2);The sucker machinery
Hand includes translation frame plate (19), elevating mechanism and sucking disc mechanism;It translates frame plate (19) to be mounted on the rail mechanism, and connects
The translation mechanism so that the translation frame plate (19) can carry out in the horizontal balance beam of driving lower edge (2) of the translation mechanism
Translation;It is provided with interlocking bar (191) between the translation frame plate (19) of five sucker manipulators so that between five sucker manipulators
Spacing fix, and make five sucker manipulators equidistantly arrange;Sucking disc mechanism is mounted on translation by the elevating mechanism
On frame plate (19) so that sucking disc mechanism can lift under the driving of the elevating mechanism;The elevating mechanism includes first liter
Frame (11), the second crane (12), third crane (13), the first synchronous belt mechanism and the second synchronous belt mechanism drop;First
Crane (11) is mounted on translation frame plate (19), and can be lifted relative to translation frame plate (19);Second crane (12) is pacified
On the first crane (11), and it can be lifted relative to the first crane (11);Third crane (13) is mounted on second
On crane (12), and it can be lifted relative to the second crane (12);First synchronous belt mechanism includes being mounted on first
On crane (11) first on synchronous pulley (1421) and first time synchronous pulley (1422);Synchronous pulley (1421) on first
The upper and lower ends of the first crane (11) are respectively arranged on first time synchronous pulley (1422);On first synchronous pulley (1421) and
It is arranged with the first synchronous belt (143) on first time synchronous pulley (1422);It is set around synchronous pulley on first (1421) and first
The side of the first synchronous belt (143) on lower synchronous pulley (1422) is fixed on the first fixing piece (144), and the other side passes through
One link block (145) is connected with the second crane (12);First fixing piece (144) is fixed on translation frame plate (19);Described
Two synchronous belt mechanisms include synchronous pulley (1521) and second time synchronous pulley on second be mounted on the second crane (12)
(1522);Synchronous pulley (1521) and second time synchronous pulley (1522) are respectively arranged on the upper and lower of the second crane (12) on second
Both ends;On second the second synchronous belt (153) is arranged on synchronous pulley (1521) and second time synchronous pulley (1522);It is set around
The side of synchronous pulley (1521) and the second synchronous belt (153) on second time synchronous pulley (1522) is fixed on second on second
On fixing piece (154), the other side is connected by the second link block (155) with third crane (13);Second fixing piece (154) is solid
It is scheduled on the first crane (11);Sucking disc mechanism is mounted on the bottom end of third crane (13);First crane (11) is connected with
Lift drive mechanism.
2. 5-linked sucker arm-and-hand system as described in claim 1, which is characterized in that first synchronous belt mechanism has two
It is a;Two the first synchronous belt mechanisms are respectively arranged on the both sides of the second crane (12).
3. 5-linked sucker arm-and-hand system hand as claimed in claim 2, which is characterized in that further include two track frames (14);
Two the first synchronous belt mechanisms are separately mounted on two track frames (14);Track frame is equipped with vertical second on the inside of (14)
Lifting sliding rail (141);Second crane (12) by sliding block be held on two track frames (14) the second lifting sliding rail (141) it
Between.
4. 5-linked sucker arm-and-hand system as described in claim 1, which is characterized in that the front setting of the second crane (12)
There is vertical third sliding rail (151);Third sliding rail (151) is made of two one slide rails;Third crane (13) is pacified by sliding block
On third sliding rail (151);Second synchronous belt mechanism is located between two one slide rails of third sliding rail (151);It is set around second
The both sides of upper synchronous pulley (1521) and the second synchronous belt (153) on second time synchronous pulley (1522) are located at second liter
The front and back of frame (12) drops;Second fixing piece (154) is located at the back side of the second crane (12);Second link block (155)
Front positioned at the second crane (12), and positioned at the back side of third crane (13).
5. 5-linked sucker arm-and-hand system as described in claim 1, which is characterized in that the lift drive mechanism includes lifting
Motor (168), pulls synchronous belt (163) at drive coordination belt wheel (161);The upper and lower ends for pulling synchronous belt (163) pass through respectively
Upper dragging fixing piece (1621) and lower dragging fixing piece (1622) are mutually fixed with the first crane (11);Pull synchronous belt (163)
Centre around being wound on drive coordination belt wheel (161) after two tensioning wheels (164) so that pull synchronous belt (163) in Ω knots
Structure;Drive coordination belt wheel (161) is connected with lifting motor (168).
6. 5-linked sucker arm-and-hand system as described in claim 1, which is characterized in that the rail mechanism includes two trapezoidal
Wheel track (21);Two trapezoidal wheel tracks (21) are respectively arranged in the top and bottom of horizontal balance beam (2) along horizontal balance beam (2);It is described
Translation mechanism includes translation motor (22) and translation synchronous belt (23);Translate synchronous belt (23) is mounted on horizontal balance beam (2) two
On the toothed belt wheel for holding setting, and connect translation frame plate (19);The toothed belt wheel connection translation motor (22) of horizontal balance beam (2) one end;
The back side of translation frame plate (19) is equipped with oblique clip wheel mechanism (25);Translation frame plate (19) is stuck in level by oblique clip wheel mechanism (25)
On the trapezoidal wheel track (21) of balance beam (2) top and bottom setting.
7. 5-linked sucker arm-and-hand system as claimed in claim 6, which is characterized in that trapezoidal wheel track (21) includes that two idler wheels are oblique
Face (211);Oblique clip wheel mechanism (25) includes rolling wheel support (251) and at least two oblique idler wheels (252);Rolling wheel support (251)
On translation frame plate (19);Oblique idler wheel (252) is mounted on rolling wheel support (251);Two oblique idler wheels (252) are respectively
Respectively it is stuck on idler wheel inclined-plane (211).
8. 5-linked sucker arm-and-hand system as claimed in claim 7, which is characterized in that there are four oblique clip wheel mechanisms (25);Two
Ge Xie clip wheels mechanism (25) is stuck on the trapezoidal wheel track (21) on the top surface of horizontal balance beam (2), Liang Gexie clip wheels mechanism (25) card
On trapezoidal wheel track (21) on the bottom surface of horizontal balance beam (2);There are four oblique idler wheels (252) in oblique clip wheel mechanism (25);
Two oblique idler wheels (252) are stuck on the idler wheel inclined-plane (211) of trapezoidal wheel track (21) side, the oblique idler wheel of another two (252) card
On the idler wheel inclined-plane (211) of trapezoidal wheel track (21) other side.
9. 5-linked sucker arm-and-hand system as claimed in claim 7, which is characterized in that oblique clip wheel mechanism (25) further includes trapezoidal
Fixture block (253);Trapezoidal fixture block (253) is equipped with trapezoidal bayonet, and is stuck on trapezoidal wheel track (21) by the trapezoidal bayonet.
10. 5-linked sucker arm-and-hand system as claimed in claim 7, which is characterized in that the horizontal sextant angle of idler wheel inclined-plane (211)
It is 45 degree;The vertical angle in oblique idler wheel (252) axle center is 45 degree.
Priority Applications (1)
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CN201721588608.6U CN207669328U (en) | 2017-11-24 | 2017-11-24 | A kind of 5-linked sucker arm-and-hand system |
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CN201721588608.6U CN207669328U (en) | 2017-11-24 | 2017-11-24 | A kind of 5-linked sucker arm-and-hand system |
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CN201721588608.6U Active CN207669328U (en) | 2017-11-24 | 2017-11-24 | A kind of 5-linked sucker arm-and-hand system |
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Cited By (1)
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CN107838939A (en) * | 2017-11-24 | 2018-03-27 | 安徽鲲鹏装备模具制造有限公司 | A kind of 5-linked sucker arm-and-hand system |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107838939A (en) * | 2017-11-24 | 2018-03-27 | 安徽鲲鹏装备模具制造有限公司 | A kind of 5-linked sucker arm-and-hand system |
CN107838939B (en) * | 2017-11-24 | 2023-09-08 | 安徽鲲鹏装备模具制造有限公司 | Five-linked sucker manipulator system |
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