CN207841326U - A kind of stack robot manipulator fixed angle turn device - Google Patents
A kind of stack robot manipulator fixed angle turn device Download PDFInfo
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- CN207841326U CN207841326U CN201820012533.5U CN201820012533U CN207841326U CN 207841326 U CN207841326 U CN 207841326U CN 201820012533 U CN201820012533 U CN 201820012533U CN 207841326 U CN207841326 U CN 207841326U
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- cabinet
- rack
- fixed angle
- output shaft
- robot manipulator
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- 230000033001 locomotion Effects 0.000 claims description 15
- 238000000034 method Methods 0.000 abstract description 3
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- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 230000017105 transposition Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 235000013361 beverage Nutrition 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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Abstract
The utility model is related to a kind of stack robot manipulator fixed angle turn devices, including cabinet and linear actuator, linear actuator to be fixedly connected with cabinet, and rack, input gear, input shaft, driver plate, frid and output shaft are equipped in cabinet；One end of rack is connected with the output end of linear actuator；Rack is moved by engaging band driven input shaft positive and negative rotation with input gear；Input shaft is connected with output shaft by Geneva mechanism, and Geneva mechanism includes driver plate and frid, and radial slot and lock groove are offered on frid, and driver plate is equipped with the outer convex Locking arc of finger；The output end of output shaft stretches out the handgrip for connecting robot palletizer outside cabinet.Servo motor driving is not used in the turn device of the utility model, but during indexing, and output shaft stability of rotation has apparent acceleration and deceleration process, without rigid shock, and indexing is accurate and reliable, and simple in structure at low cost, has higher promotional value.
Description
Technical field
The utility model is related to carry palletizing apparatus field, and in particular to a kind of stack robot manipulator fixed angle indexing
Device.
Background technology
With the development of science and technology with the raising of production automation level, the application of robot is more and more extensive.Stacking machine
Typical Representative of the people as robot, it is more and more wider in the application of the industries such as grain, food, beverage, feed, chemical industry and coal
It is general, the production efficiency of enterprise is greatly improved, reduces labor cost.
There are many structure types for robot palletizer, and wherein the robot of cartesian co-ordinate type is due to simple in structure, each axis
Action does not interfere with each other, controls easy, low cost and obtain wide application.During the stacking of cargo, due to pile type
It is different, it is often necessary to which that the handgrip of robot palletizer carries out 90 ° of indexing, and cargo is put by different directions.Common handgrip
There are two types of the type of drive of transposition action：Servo motor drives and pneumatic.Servo motor driving indexable mode stable movement, can
Realization any angle is indexable but of high cost, control system is complicated.Pneumatic indexable mode is typically to be driven by the cylinder rack to do directly
Line moves, then the linear motion of rack is converted to the rotary motion of handgrip by rack and pinion mechanism, is limited by fixed stop
The stroke of rack is to realize fixed angle indexing.Pneumatic indexable mode is at low cost, control is simple, but is deposited in the whole story of indexing
In larger rigid shock, it is susceptible to the unstable situation of cargo clamping, makes in palletization that there are security risks, while is also right
Equipment traveling comfort and the stacking quality of cargo have an impact.
Utility model content
The purpose of this utility model is to provide a kind of stack robot manipulator fixed angle turn device, to solve existing turn
Position device there is technical issues that.
In order to solve the above technical problems, technical solution used by the utility model is：A kind of stack robot manipulator is solid
Determine angle turn device, including cabinet and linear actuator, linear actuator are fixedly connected with cabinet, gear sequences are pressed in cabinet
It is equipped with rack, input gear, input shaft, driver plate, frid and output shaft successively；One end of rack and the output end of linear actuator
It is connected and can be driven by linear actuator and makees straight line back and forth movement；The fixed angle of stack robot manipulator indexing is β,
45 °≤β≤90 °, rack is more than by engaging band driven input shaft work with input gear（180°-β）The positive and negative rotation at angle moves；It is defeated
Enter axis and output shaft is arranged in parallel and is rotatablely connected respectively with cabinet；Input shaft and output shaft be connected by Geneva mechanism realize it is defeated
The angles the β indexing of shaft, the Geneva mechanism includes the driver plate being connected on input shaft and the frid that is connected on output shaft, frid
On offer radial slot, the both sides of radial slot are equipped with the lock groove of arc-shaped, and driver plate is equipped with columned finger, and finger is straight
Diameter is equal to radial well width, and the axial direction of finger is parallel with the axial direction of input shaft, and the both sides of finger are equipped with can be with lock groove phase
The outer convex Locking arc of cooperation；The output end of output shaft stretches out the handgrip for connecting robot palletizer outside cabinet.
Further, fixed angle β=90 °.
Further, the linear actuator is pneumatic cylinder, and rack is connected with the piston rod of pneumatic cylinder.
Further, rack guider is additionally provided in cabinet；Further, the rack guider includes leading
It to taking turns and being oriented to wheeling support, is oriented to wheeling support and is fixedly connected on cabinet inner wall, directive wheel is turned by axis pin with wheeling support is oriented to
Dynamic connection, the side for being oriented to wheel and rack back to input gear are in contact.
Further, rack is connected by rack connector with the output end of linear actuator.
Further, linear actuator is fixedly connected on the side wall on the outside of cabinet, and the output end of linear actuator stretches into
It is connected in cabinet and with rack.
Further, input shaft both ends and output shaft both ends are rotatablely connected by bearing and cabinet.
Further, the cabinet includes babinet and case lid, and babinet and case lid are detachably connected.
Advantageous effect：The turn device of the utility model makes output shaft in indexable process by the cooperation of driver plate and frid
Middle stability of rotation, and have an apparent acceleration and deceleration process in rack linear uniform motion, without rigid shock when indexing is completed,
It is indexable accurate and reliable and simple in structure at low cost, there is higher promotional value.
Description of the drawings
Fig. 1 is the utility model external structure schematic diagram；
Fig. 2 is the utility model internal structure schematic diagram（Front view）；
Fig. 3 is the internal structure schematic diagram at another visual angle of the utility model（Vertical view）；
Fig. 4 is rack guider structural schematic diagram；
The position relationship schematic diagram of frid and driver plate when Fig. 5 is lockup state；
Fig. 6 is the position relationship schematic diagram that transposition action completes frid and driver plate when half；
It is marked in figure：1, cabinet, 1a, babinet, 1b, case lid, 2, linear actuator, 3, rack, 4, input gear, 5, input
Axis, 6, driver plate, 6a, finger, 6b, outer convex Locking arc, 7, frid, 7a, radial slot, 7b, lock groove, 8, output shaft, 9, rack leads
To device, 9b, 9a, directive wheel are oriented to wheeling support, 9c, axis pin, and 10, rack connector, 11, input shaft end cap, 12, output shaft
End cap.
Specific implementation mode
Below with 90 ° of indexings of stack robot manipulator（I.e. fixed angle β=90 ° the case where namely handgrip carry out 90 ° turn
Position）And for pneumatic cylinder driving, and the utility model is described in further detail in conjunction with attached drawing, below non-detailed portion
It is the prior art or can be realized using the prior art.
As shown in Figs. 1-3, a kind of 90 ° of turn devices of stack robot manipulator, including cabinet 1 and linear actuator 2, cabinet
1 includes babinet 1a and case lid 1b, and babinet 1a and case lid 1b are detachably connected by bolt, and case lid 1b settings are used above babinet 1a
In the vertical shaft of connection robot palletizer, the linear actuator 2 is pneumatic cylinder, and pneumatic cylinder is fixedly connected on babinet 1a lateral walls
On, the piston rod of pneumatic cylinder（That is the output end of linear actuator）It stretches into babinet 1a；
As Figure 2-3, be equipped with successively by gear sequences in babinet 1a rack 3, input gear 4, input shaft 5, driver plate 6,
Frid 7 and output shaft 8；One end of rack 3 is connected by rack connector 10 with the piston rod of pneumatic cylinder, and can be by air pressure
Straight line back and forth movement is made in cylinder driving；3 back and forth movement of rack simultaneously is made to be more than 90 ° by the band driven input shaft 5 that engages with input gear 4
（That is 180 ° of-β）Positive and negative rotation movement（It is 180 ° of positive and negative rotations in the present embodiment）；As shown in Figure 3-4, rack 3 is back to input
The side of gear 4 is equipped with directive wheel 9a and is oriented to wheeling support 9b, and directive wheel 9a is arranged by axis pin 9c on being oriented to wheeling support 9b,
And directive wheel 9a can be rotated around axis pin 9c, and the both ends of directive wheel 9a have the cricoid boss radially extended along axis pin 9c, tooth
The side of item 3 back to input gear 4 is caught between two boss, directive wheel 9a outer ring surfaces be located at part between two boss with
3 back of rack is in contact（Rack back refers to rack back to the end face of input gear）, it is oriented to wheeling support 9b and is fixedly connected on babinet
On 1a inner walls, directive wheel 9a, guiding wheeling support 9b and axis pin 9c play support to rack collectively as rack guider 9 and lead
To effect；
As shown in Fig. 2, input shaft 5 and output shaft 8 are arranged in parallel；5 upper end of input shaft and 8 upper end of output shaft pass through bearing
It is rotatablely connected with case lid 1b, 5 lower end of input shaft and output shaft 8 are connected by bearing and babinet 1a lower rotations at lower end
It connects；5 lower end of input shaft is equipped with input shaft end cap 11, and input shaft end cap 11 is bolted to connection on babinet 1a；Output shaft 8
The handgrip that babinet 1a bottom outsides are used to connect robot palletizer is stretched out in lower end, and output shaft 8 is equipped with output shaft end at lower end
Lid 12 and oil sealing；
As shown in Fig. 2,5-6, input shaft 5, which is connected with output shaft 8 by Geneva mechanism, realizes 90 ° of indexings of output shaft 8, institute
It includes the driver plate 6 being connected on input shaft 5 and the frid 7 being connected on output shaft 8 to state Geneva mechanism, and diameter is offered on frid 7
To slot 7a, the both sides of radial slot 7a are equipped with the lock groove 7b of arc-shaped, and driver plate 6 is equipped with columned finger 6a, finger 6a
Diameter is equal to（Actually it is slightly less than, i.e., can just enters radial slot and both can guarantee and do not detached in transmission process, to
Ensure the stabilization of relative motion）The axial direction of radial slot 7a width, finger 6a is parallel with the axial direction of input shaft 5, and the two of finger 6a
Side is equipped with can be with the matched outer convex Locking arc 6b of lock groove 7b.
Operation principle：Before transposition action starts, with reference to Fig. 5, one of frid 7 lock groove 7b（First）It is corresponded to
Outer convex Locking arc 6b lockings, at this point, finger 6a is detached with radial slot 7a and in finger 6a axes movement locus and radial slot 7a
Heart line is tangent, and axial connecting line and the radial slot 7a centerlines of input shaft 5 and output shaft 8 are 45 °（That is β/2）；Transposition action
After beginning, pneumatic cylinder elongation（Or it shrinks）Band carry-over bar 3 is for linear motion, and rack 3 is made by input gear 4 with driven input shaft 5
Rotary motion more than 90 °, finger 6a enter radial slot 7a and frid 7 are driven to rotate, and frid 7 rotates 45 °（That is β/2）Afterwards, join
According to Fig. 6, first lock groove has been detached with outer convex Locking arc 6b, another lock groove 7b（Second）With outer convex Locking arc 6b
It not yet contacts, frid 7 is rotated further, after 90 ° of rotation, with reference to Fig. 5（By Fig. 5 overturnings symmetrical above and below）, finger 6a again with diameter
It is detached to slot 7a, second lock groove is locked up（Input shaft is rotated further, and frid no longer rotates）, complete indexing in 90 °；When need
When going back to home position, pneumatic cylinder is retracted（Or elongation）, input shaft 5 invert, output shaft 8 drive handgrip go back to home position.
It, can be in 90 ° of turn devices when needing handgrip with fixed angle β indexings more than or equal to 45 °, less than 90 °
On the basis of, the axial connecting line of input shaft 5 and output shaft 8 and radial slot 7a centerlines are decreased to β/2, while opposite
Reduce the radius and the distance between input shaft 5 and output shaft 8 of finger 6a axes movement locus；Or by 5 He of input shaft
The axial connecting line of output shaft 8 and radial slot 7a centerlines are decreased to the opposite size etc. for increasing frid 7 while β/2.
It should be noted that if driver plate 6 and frid 7 are respectively divided into two parts according to transmission and locking, i.e.,
Driver plate 6 is divided into a disk containing finger 6a and a disk containing outer convex Locking arc 6b, and frid 7 is divided into one and contains radial slot
The plate of 7a and a plate containing lock groove 7b, and still be able to play the effect in the application, then it should be understood as and this reality
With the equivalent technical characteristic of novel middle driver plate 6 and frid 7.
In short, the utility model is not limited to above-described embodiment, those skilled in the art are in the basic structure of the utility model
Under the enlightenment of think of, the deformation and modification made have no effect on the substantive content of the utility model, in the utility model patent
Protection domain within.
Claims (9)
1. a kind of stack robot manipulator fixed angle turn device, it is characterised in that：Including cabinet（1）And linear actuator
（2）, linear actuator（2）With cabinet（1）It is fixedly connected, cabinet（1）It is interior to be equipped with rack successively by gear sequences（3）, input tooth
Wheel（4）, input shaft（5）, driver plate（6）, frid（7）And output shaft（8）；
Rack（3）One end and linear actuator（2）Output end be connected and can be by linear actuator（2）Straight line is made in driving
Back and forth movement；The fixed angle of stack robot manipulator indexing be β, 45 °≤β≤90 °, rack（3）By with input gear（4）
Engagement band driven input shaft（5）Make the positive and negative rotation movement for being more than 180 ° of angles-β；
Input shaft（5）And output shaft（8）Be arranged in parallel and respectively with cabinet（1）Rotation connection；Input shaft（5）With output shaft（8）
It is connected by Geneva mechanism and realizes output shaft（8）The angles β indexing, the Geneva mechanism include be connected to input shaft（5）On dial
Disk（6）Be connected to output shaft（8）On frid（7）, frid（7）On offer radial slot（7a）, radial slot（7a）Both sides
It is equipped with the lock groove of arc-shaped（7b）, driver plate（6）It is equipped with columned finger（6a）, finger（6a）Diameter is equal to radial slot
（7a）Width, finger（6a）Axial direction and input shaft（5）Axial direction it is parallel, finger（6a）Both sides be equipped with can be with lock groove
（7b）Matched outer convex Locking arc（6b）；
Output shaft（8）Output end stretch out cabinet（1）The outer handgrip for connecting robot palletizer.
2. a kind of stack robot manipulator fixed angle turn device according to claim 1, it is characterised in that：Described
Fixed angle β=90 °.
3. a kind of stack robot manipulator fixed angle turn device according to claim 1, it is characterised in that：Described
Linear actuator（2）For pneumatic cylinder, rack（3）It is connected with the piston rod of pneumatic cylinder.
4. a kind of stack robot manipulator fixed angle turn device according to claim 1, it is characterised in that：Cabinet
（1）Inside it is additionally provided with rack guider（9）.
5. a kind of stack robot manipulator fixed angle turn device according to claim 4, it is characterised in that：Described
Rack guider（9）Including directive wheel（9a）With guiding wheeling support（9b）, it is oriented to wheeling support（9b）It is fixedly connected on cabinet（1）
On inner wall, directive wheel（9a）Pass through axis pin（9c）With guiding wheeling support（9b）Rotation connection, directive wheel（9a）With rack（3）Back to
Input gear（4）Side be in contact.
6. a kind of stack robot manipulator fixed angle turn device according to claim 1, it is characterised in that：Rack
（3）Pass through rack connector（10）With linear actuator（2）Output end be connected.
7. a kind of stack robot manipulator fixed angle turn device according to claim 1, it is characterised in that：Straight line drives
Dynamic device（2）It is fixedly connected on cabinet（1）On the side wall in outside, linear actuator（2）Output end stretch into cabinet（1）Interior and and tooth
Item（3）It is connected.
8. a kind of stack robot manipulator fixed angle turn device according to claim 1, it is characterised in that：Input shaft
（5）Both ends and output shaft（8）Both ends pass through bearing and cabinet（1）Rotation connection.
9. a kind of stack robot manipulator fixed angle turn device according to claim 1, it is characterised in that：Described
Cabinet（1）Including babinet（1a）And case lid（1b）, babinet（1a）And case lid（1b）It is detachably connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820012533.5U CN207841326U (en) | 2018-01-04 | 2018-01-04 | A kind of stack robot manipulator fixed angle turn device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820012533.5U CN207841326U (en) | 2018-01-04 | 2018-01-04 | A kind of stack robot manipulator fixed angle turn device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207841326U true CN207841326U (en) | 2018-09-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820012533.5U Expired - Fee Related CN207841326U (en) | 2018-01-04 | 2018-01-04 | A kind of stack robot manipulator fixed angle turn device |
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| CN (1) | CN207841326U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000507A (en) * | 2018-01-04 | 2018-05-08 | 河南科技大学 | A kind of stack robot manipulator fixed angle turn device |
-
2018
- 2018-01-04 CN CN201820012533.5U patent/CN207841326U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000507A (en) * | 2018-01-04 | 2018-05-08 | 河南科技大学 | A kind of stack robot manipulator fixed angle turn device |
| CN108000507B (en) * | 2018-01-04 | 2024-02-27 | 河南科技大学 | Fixed angle transposition device of palletizing robot tongs |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180911 |
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| CF01 | Termination of patent right due to non-payment of annual fee |