CN211073626U

CN211073626U - Automatic drop feed mechanism of getting of manipulator

Info

Publication number: CN211073626U
Application number: CN201921101320.0U
Authority: CN
Inventors: 王宏斌
Original assignee: Guangzhou Xincheng Human Resources Service Co ltd
Current assignee: Guangzhou Xincheng Human Resources Service Co ltd
Priority date: 2019-07-15
Filing date: 2019-07-15
Publication date: 2020-07-24
Anticipated expiration: 2029-07-15

Abstract

The utility model provides an automatic drop feed mechanism of getting of manipulator relates to the arm field. This drop feed mechanism is got to manipulator automation, including rotation axis, fixed case, rotatory axle cup joints in the top of fixed case, and the bottom of rotation axis extends to the inside of fixed case, and the fixed cover of surface that the rotation axis is located fixed incasement portion has connect big swing pinion, and the fixed cover of surface that the rotation axis is located big swing pinion below has connect little swing pinion, and fixed incasement portion is located big swing pinion left side both sides and has seted up first spout. This drop feed mechanism is got automatically to manipulator can drive wide rack board inward movement and then will step up the board and step up inward through rotatory gear through the rotation axis rotation, and the rotatory removal that drives narrow rack board of pinion will move down the pole extrusion downwards then through tooth and the rotatory take-up pulley that drives of meshing gear rotatory, finally reaches the effect of drawing in the board that draws in, has solved among the prior art problem that manipulator drop feed mechanism can not step up bottom half.

Description

Automatic drop feed mechanism of getting of manipulator

Technical Field

The utility model relates to an arm technical field specifically is an automatic drop feed mechanism of getting of manipulator.

Background

The manipulator is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Because of the unique operation flexibility, the method is widely applied to the fields of industrial assembly, safety, explosion prevention and the like. The manipulator is a complex system, and uncertainties such as parameter perturbation, external interference, unmodeled dynamics and the like exist. Therefore, uncertainty exists in a modeling model of the mechanical arm, and for different tasks, the motion trail of the joint space of the mechanical arm needs to be planned, so that the tail end pose is formed by cascading.

The existing manipulator can only clamp the periphery of the material in the material taking and placing process, and some boxes are easy to fall from the bottoms of the boxes because the bottoms of the boxes are not supported in the processes of clamping and transferring the boxes.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

Not enough to prior art, the utility model provides an automatic drop feed mechanism of getting of manipulator has solved among the prior art problem that the manipulator got the blowing in-process and does not have the support to the material bottom.

(II) technical scheme

In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: the utility model provides an automatic drop feed mechanism of getting of manipulator, including the rotation axis, fixed case, rotatory axle cup joints in the top of fixed case, the bottom of rotation axis extends to the inside of fixed case, the fixed cover of surface that the rotation axis is located fixed incasement portion has connect big swing pinion, the fixed cover of surface that the rotation axis is located big swing pinion below has connect little swing pinion, fixed incasement portion is located big swing pinion left side both sides and has seted up the first spout that runs through both sides around the fixed case respectively, the inside sliding connection of first spout has the wide toothed bar board with big swing pinion meshing, wide toothed bar board is located the outside one end fixedly connected with step-up plate of fixed case, both sides are seted up the second spout that runs through fixed case left and right sides around the fixed incasement portion is located little swing joint has the narrow toothed bar board with little swing pinion meshing.

The utility model discloses a take-up reel, including fixed case, narrow tooth slat, the fixed case is located the outside lower fixed surface of fixed case and installs tooth, the fixed incasement portion is located narrow tooth slat top and sets up flutedly, the inside baffle that has cup jointed of recess, through extension spring fixed connection between the interior diapire of recess and the baffle upper surface, the lower fixed surface of baffle is connected with down the pole, the joint groove with narrow tooth slat adaptation is seted up to the surface that the pole is located the recess outside down, the fixed case is located recess outside fixed mounting and has the connecting rod, the below of connecting rod articulates there are meshing gear and take-up pulley, meshing gear is located the place ahead of take-up pulley, meshing gear and the tooth meshing of narrow tooth slat lower fixed surface mounting, the bottom that moves down the pole articulates there is the board that draws.

Preferably, the fixed box is in an inverted convex shape, the large rotating gear and the small rotating gear are located at the lower position, and the groove is formed in the upper position of the fixed box.

Preferably, the thickness of the narrow rack plate is smaller than the rear part of the wide rack plate, and the width of the narrow rack plate is smaller than that of the wide rack plate.

Preferably, the outer surface of the rotating shaft is sleeved with a bearing, and the bearing is embedded in the upper surface of the fixed box.

Preferably, the right side of the cross-sectional shape of the clamping groove, which is a right trapezoid, is connected with a rectangle, and the depth of the clamping groove is half of the width of the downward moving rod.

Preferably, the teeth of the wide toothed plate open outwards from the side close to the large rotary gear to half the length of the wide toothed plate, and the teeth of the narrow toothed plate open outwards from the side close to the small rotary gear to half the length of the narrow toothed plate.

(III) advantageous effects

The utility model provides an automatic drop feed mechanism of getting of manipulator. The method has the following beneficial effects:

1. This drop feed mechanism is got automatically to manipulator can drive wide rack board inward movement and then will step up the inboard and step up through rotatory gear of rotation axis, and the removal that drives narrow rack board through pinion rotation will move down the pole extrusion downwards then through tooth and meshing gear rotation drive take-up pulley rotatory, finally reaches the effect of drawing in the board in, has solved among the prior art manipulator drop feed mechanism and can not step up the problem of bottom half.

2. This drop feed mechanism is got automatically to manipulator through the cooperation of extension spring and baffle, can reach and move down the pole and withdraw back automatic re-setting's effect at narrow tooth slat, has solved among the prior art and has drawn in the problem that the board does not have the safe side position in drawing in. .

Drawings

FIG. 1 is a front cross-sectional view of the present invention;

FIG. 2 is a side sectional view of the present invention;

FIG. 3 is an enlarged view of the point A of FIG. 1 according to the present invention;

Fig. 4 is a schematic view of the downward moving rod of the present invention.

The device comprises a rotating shaft-1, a fixed box-2, a large rotating gear-3, a small rotating gear-4, a first chute-5, a wide toothed strip-6, a tightening plate-7, a second chute-8, a narrow toothed strip-9, teeth-10, grooves-11, a partition-12, a stretching spring-13, a down moving rod-14, a clamping groove-15, a connecting rod-16, a meshing gear-17, a take-up pulley-18, a furling plate-19, a traction line-20 and a bearing-21.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The embodiment of the utility model provides an automatic drop feed mechanism of manipulator, as shown in figure 1-4, including rotation axis 1, fixed case 2, rotation axis 1 cup joints in the top of fixed case 2, the bottom of rotation axis 1 extends to the inside of fixed case 2, fixed case 2 is the shape of putting the dogleg upside down, big rotating gear 3 and little rotating gear 4 are located the position below, recess 11 offers the position above fixed case 2, the effect of fixed case 2 is fixed ampere of square drive part, the fixed cover that rotation axis 1 is located the inside fixed case 2 is fixed with big rotating gear 3, the surface of rotation axis 1 has cup jointed bearing 21, bearing 21 inlays the upper surface at fixed case 2, the setting of bearing 21 can guarantee the smoothness of rotation, the fixed surface that rotation axis 1 is located the big rotating gear 3 below has cup jointed little rotating gear 4, fixed case 2 is located big rotating gear 3 left side both sides and has seted up the first spout 5 that runs through fixed case 2 front and back both sides respectively, the first sliding chute 5 is internally and slidably connected with a wide toothed plate 6 meshed with the large rotating gear 3, teeth of the wide toothed plate 6 are outwards opened to a half length of the wide toothed plate 6 from one side close to the large rotating gear 3, and teeth of the narrow toothed plate 9 are outwards opened to a half length of the narrow toothed plate 9 from one side close to the small rotating gear 4, so that the strength of the rack plate can be improved.

One end of the wide toothed bar plate 6 positioned outside the fixed box 2 is fixedly connected with a clamping plate 7, the inside of the fixed box 2 positioned in front of and behind the small rotating gear 4 is provided with a second chute 8 penetrating through the left side and the right side of the fixed box 2, the inside of the second chute 8 is movably connected with a narrow toothed bar plate 9 meshed with the small rotating gear 4, the thickness of the narrow toothed bar plate 9 is smaller than the rear part of the wide toothed bar plate 6, the width of the narrow toothed bar plate 9 is smaller than the width of the wide toothed bar plate 6, the load of the wide toothed bar plate 6 is more, so that the width of the narrow toothed bar plate needs to be designed, the lower surface of the narrow toothed bar plate 9 positioned outside the fixed box 2 is fixedly provided with teeth 10, the inside of the fixed box 2 positioned above the narrow toothed bar plate 9 is provided with a groove 11, the inside of the groove 11 is sleeved with a baffle plate 12, the inner bottom, the outer surface of the lower moving rod 14, which is positioned outside the groove 11, is provided with a clamping groove 15 matched with the narrow toothed strip plate 9, the right side of the clamping groove 15 is in a right trapezoid shape and is connected with a rectangle, the depth of the clamping groove 15 is half of the width of the lower moving rod 14, the narrow toothed strip plate 9 can be driven to move by the movement of the narrow toothed strip plate 9 while the narrow toothed strip plate 9 is ensured to move, the fixing box 2 is fixedly provided with a connecting rod 16, which is positioned outside the groove 11, the lower part of the connecting rod 16 is hinged with a meshing gear 17 and a take-up pulley 18, the meshing gear 17 is positioned in front of the take-up pulley 18, the meshing gear 17 is meshed with teeth 10 fixedly arranged on the lower surface of the narrow toothed strip plate 9, the bottom end of the lower moving rod 14 is hinged with a furling.

The working principle is as follows: this drop feed mechanism is got automatically to manipulator can drive wide tooth slat 6 through rotary gear 3 through rotation axis 1 rotation and inwards move and then will step up board 7 and inwards step up, and the removal of driving narrow tooth slat 9 through pinion 4 rotation will move down the extrusion of pole 14 downwards and then rotate through tooth 10 and meshing gear 17 and drive take-up pulley 18 rotatory, finally reaches the effect of drawing in and drawing in board 19.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an automatic drop feed mechanism of getting of manipulator, includes rotation axis (1), fixed case (2), its characterized in that: the rotating shaft (1) is sleeved above the fixed box (2), the bottom end of the rotating shaft (1) extends into the fixed box (2), the outer surface of the rotating shaft (1) positioned in the fixed box (2) is fixedly sleeved with the large rotating gear (3), the outer surface of the rotating shaft (1) positioned below the large rotating gear (3) is fixedly sleeved with the small rotating gear (4), the two sides of the left side of the large rotating gear (3) in the fixed box (2) are provided with first chutes (5) respectively penetrating through the front side and the rear side of the fixed box (2), the first chutes (5) are internally and slidably connected with wide toothed strips (6) meshed with the large rotating gear (3), one end of each wide toothed strip (6) positioned outside the fixed box (2) is fixedly connected with a tightening plate (7), the two sides of the front side and the rear side of the small rotating gear (4) in the fixed box (2) are provided with second chutes (8) penetrating through the left side and, a narrow toothed bar plate (9) meshed with the small rotating gear (4) is movably connected inside the second sliding chute (8);

The lower surface of the narrow toothed slat (9) outside the fixed box (2) is fixedly provided with teeth (10), the fixed box (2) is internally provided with a groove (11) above the narrow toothed slat (9), the groove (11) is internally sleeved with a partition plate (12), the inner bottom wall of the groove (11) is fixedly connected with the upper surface of the partition plate (12) through a tension spring (13), the lower surface of the partition plate (12) is fixedly connected with a downward moving rod (14), the outer surface of the downward moving rod (14) outside the groove (11) is provided with a clamping groove (15) matched with the narrow toothed slat (9), the fixed box (2) outside the groove (11) is fixedly provided with a connecting rod (16), the lower part of the connecting rod (16) is hinged with a meshing gear (17) and a take-up pulley (18), the meshing gear (17) is positioned in front of the take-up pulley (18), the meshing gear (17) is meshed with the teeth (10) fixedly arranged on the lower surface of the, the bottom end of the down moving rod (14) is hinged with a furling plate (19), and the upper surface of the furling plate (19) is in transmission connection with the take-up pulley (18) through a traction wire (20).

2. The automatic material taking and placing mechanism of the manipulator according to claim 1, characterized in that: the fixed box (2) is in an inverted convex shape, the large rotating gear (3) and the small rotating gear (4) are positioned at the lower part, and the groove (11) is formed at the upper part of the fixed box (2).

3. The automatic material taking and placing mechanism of the manipulator according to claim 1, characterized in that: the thickness of the narrow toothed plate (9) is smaller than the rear part of the wide toothed plate (6), and the width of the narrow toothed plate (9) is smaller than the width of the wide toothed plate (6).

4. The automatic material taking and placing mechanism of the manipulator according to claim 1, characterized in that: the outer surface of the rotating shaft (1) is sleeved with a bearing (21), and the bearing (21) is embedded in the upper surface of the fixed box (2).

5. The automatic material taking and placing mechanism of the manipulator according to claim 1, characterized in that: the right side that the cross-sectional shape of joint groove (15) is right trapezoid is connected with the rectangle, and the degree of depth in joint groove (15) is for moving down half of pole (14) width.

6. The automatic material taking and placing mechanism of the manipulator according to claim 1, characterized in that: the teeth of the wide toothed strip plate (6) are arranged from one side close to the large rotating gear (3) to the outside to reach half of the length of the wide toothed strip plate (6), and the teeth of the narrow toothed strip plate (9) are arranged from one side close to the small rotating gear (4) to the outside to reach half of the length of the narrow toothed strip plate (9).