CN211415166U - Polar coordinate type manipulator for grabbing and storing spherical products - Google Patents
Polar coordinate type manipulator for grabbing and storing spherical products Download PDFInfo
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- CN211415166U CN211415166U CN201922414679.XU CN201922414679U CN211415166U CN 211415166 U CN211415166 U CN 211415166U CN 201922414679 U CN201922414679 U CN 201922414679U CN 211415166 U CN211415166 U CN 211415166U
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- 238000005520 cutting process Methods 0.000 claims abstract description 56
- 238000003860 storage Methods 0.000 claims abstract description 44
- 210000000078 claw Anatomy 0.000 claims abstract description 39
- 230000003287 optical effect Effects 0.000 claims abstract description 12
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 4
- 235000017491 Bambusa tulda Nutrition 0.000 description 4
- 241001330002 Bambuseae Species 0.000 description 4
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 4
- 239000011425 bamboo Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 238000009776 industrial production Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005192 partition Methods 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
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Abstract
The utility model discloses a globular product manipulator of grabbing of polar coordinate formula, including polar coordinate formula arm, arm one end is connected with the gripper, the gripper includes: the lower part of the mechanical claw ball storage main body is provided with a ball inlet; the steering engine fixing support is arranged above the mechanical claw ball storage main body; the ball lifting slicing steering engine is arranged below the steering engine fixing support; the upper end of the lifting mechanism is connected with the steering engine fixing support, and the lower end of the lifting mechanism is arranged in the lifting mechanism supporting seat; the rotary ball cutting piece steering engine is fixed on one side of the lower part of the mechanical claw ball storage main body; the rotary ball cutting sheet is arranged below the rotary ball cutting sheet steering engine; the ball lifting cylinder fixing plate is fixed below the mechanical claw ball storage main body; the ball lifting cylinder is fixed below the ball lifting cylinder fixing plate and is communicated with the ball cutting space; and the ball lifting sheet is connected with the ball lifting slice steering engine through an optical axis. Through the utility model discloses can snatch a plurality of globular products and save, remove to the assigned position again, improve the speed and the precision of carrying globular products.
Description
Technical Field
The utility model belongs to the technical field of snatch globular product manipulator technique and specifically relates to a pole coordinate formula grab access globular product manipulator.
Background
In recent decades, industrial manipulators have been developed into high-tech automatic production equipment, which is an important branch of industrial robots, and the industrial manipulators are mechanical devices with anthropomorphic arm functions, can move any object or tool according to the time-varying requirements of space poses, so that the operation requirements of certain industrial production, the accuracy of manipulator operation and the capability of completing operation in various environments are met, and the industrial manipulators have wide development prospects in various fields of national economy.
At present, most of industrial manipulators are finger type manipulators which can be flexibly applied to various industrial production, and various operations are carried out by simulating human fingers, so that the corresponding production purpose is achieved. However, if a plurality of spherical products need to be grabbed and stored, and then moved to a designated location again, the conventional finger-type manipulator is difficult to accomplish, and is relatively clumsy, and precision and speed are difficult to meet.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a pole coordinate formula grab access globular product manipulator can snatch a plurality of globular products and carry out the storage, removes to the assigned position again, has improved the speed and the precision of the globular product of transport.
In order to achieve the above purpose, the technical scheme of the utility model is that:
the utility model provides a grab globular product manipulator of access of polar coordinate formula, includes polar coordinate formula arm, arm one end is connected with the gripper, the gripper includes:
the mechanical claw ball storage main body is sealed at the periphery, and the lower part of the mechanical claw ball storage main body is provided with a ball inlet;
the steering engine fixing support is arranged above the mechanical claw ball storage main body;
the ball lifting slicing steering engine is arranged below the steering engine fixing support;
the upper end of the lifting mechanism is connected with the steering engine fixing support, the lower end of the lifting mechanism is arranged in the lifting mechanism supporting seat, and the lifting mechanism supporting seat is fixed by the mechanical claw ball storage main body;
the rotary ball cutting piece steering engine is fixed on one side of the lower part of the mechanical claw ball storage main body;
the rotary ball cutting sheet is arranged below the rotary ball cutting sheet steering engine and is controlled by the rotary ball cutting sheet steering engine;
the ball lifting cylinder fixing plate is fixed below the mechanical claw ball storage main body, and a ball cutting space is reserved between the ball lifting cylinder fixing plate and the mechanical claw ball storage main body and used for accommodating the rotary ball cutting piece steering engine and the rotary ball cutting piece;
the ball lifting cylinder is fixed below the ball lifting cylinder fixing plate and is communicated with the ball cutting space;
the ball lifting piece is connected with the ball lifting slice steering engine through an optical axis and can move up and down between the lower part and the upper part of the ball lifting cylinder;
the rotary ball cutting piece can rotate to pass through the upper part of the ball lifting piece and shield the lower part of the ball inlet hole.
Furthermore, the lifting mechanism is an electric push rod.
Furthermore, the gripper further comprises a steering engine fixing frame and a gripper rotating steering engine, one side of the steering engine fixing frame is connected with the polar coordinate type mechanical arm, the other side of the steering engine fixing frame is rotatably connected with the gripper rotating steering engine, and the gripper rotating steering engine is used for driving the gripper to rotate.
Furthermore, the rotary ball cutting piece steering engine, the rotary ball cutting pieces, the ball lifting cylinders and the mechanical claw ball storage main bodies are provided with two parts, the diameters of the ball lifting cylinders are different so as to grab balls with different sizes, the middle parts of the ball lifting cylinders are communicated, and the optical axes are arranged at the positions where the two ball lifting cylinders are communicated.
Furthermore, the mechanical arm comprises a lifting arm mechanism and a translation arm mechanism, the lifting arm mechanism comprises a lifting driving motor, a lifting screw rod and a lifting connecting block, the lifting screw rod is vertically arranged, the lifting driving motor drives the lifting connecting block to move through the lifting screw rod, the translation arm mechanism comprises a translation driving motor, a translation screw rod and a translation connecting block, the translation screw rod is transversely arranged, the translation driving motor drives the translation connecting block to move through the translation screw rod, and the lifting connecting block is connected with the translation connecting block; and one end of the translation screw rod, which is far away from the translation driving motor, is connected with the mechanical claw. Furthermore, the mechanical arm further comprises a rotating mechanism, the rotating mechanism comprises a rotating driving motor, a pinion and a gear wheel, the rotating driving motor drives the pinion to rotate, the pinion is meshed with the gear wheel, and the gear wheel drives the lifting arm mechanism to rotate.
Furthermore, the lifting arm mechanism also comprises a module fixing sleeve, wherein the upper part of the module fixing sleeve is sleeved with a large gear to enable the lifting arm mechanism to synchronously rotate, and the lower part of the module fixing sleeve is sleeved in a bearing and can rotate relative to the bearing; the inside cover is equipped with lift driving motor.
The polar coordinate type manipulator for grabbing and storing the spherical products extends the ball lifting sheet to the bottom end of the ball lifting cylinder when the spherical products need to be caught and stored, then the ball lifting cylinder covers the spherical products, the covering height is more than two thirds of the height of the spherical products, the ball lifting sheet rotates to block a corresponding ball lifting cylinder passage port and cut the spherical products into the passage of the ball lifting cylinder, the spherical products are lifted to the lower side of the ball cutting sheet, then the ball cutting sheet rotates to the position where the lifted spherical products are not blocked, the ball lifting sheet continues to be lifted to the spherical products at least 2/3 higher than the ball cutting sheet, the ball cutting sheet rotates, the spherical products are cut into the mechanical claw ball storage main body through the ball inlet, and the processes are repeated to catch more spherical products and store the spherical products in the mechanical claw ball storage main body. Because the gripper need not deposit globular product with the help of other article in the external world, consequently shortened and caught the time of globular product with snatching, and lift a ball section of thick bamboo in the scope together and all can cover globular product, consequently to the precision requirement reduction that the position was placed, finger formula manipulator can snatch globular product at bigger scope relatively, operates more fast accurate.
Furthermore, the invention adopts a proper polar coordinate type mechanical arm structure, and compared with the traditional XYZ axis three-dimensional motion, the invention is more flexible and has no dead angle. The polar coordinate type three-dimensional motion structure is very stable and small in jitter, and necessary conditions are provided for accurate grabbing of the mechanical gripper.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic view of the structure of the present invention.
Fig. 3 is a schematic structural view of the mechanical claw in a ball catching state.
Fig. 4 is a schematic view of the other side of the gripper in a ball-catching state.
Fig. 5 is a schematic structural view of the gripper in a state of ball-cutting.
Fig. 6 is a schematic view of the other side of the gripper in a state of ball-cutting.
Fig. 7 is a rear view structure schematic diagram of the mechanical claw ball storage main body and the ball lifting barrel.
Fig. 8 is a schematic view of the cross-sectional structure C-C of fig. 7.
Fig. 9 is a schematic top view of the ball-lifting barrel fixing plate.
Fig. 10 is a schematic perspective view of the lift arm mechanism and the translation arm mechanism.
Fig. 11 is a schematic perspective view of the rotation mechanism.
Fig. 12 is a schematic view of a ball-lifting plate catching a ball.
In the figure, a rotating mechanism 1, a pinion 101, a rotating driving motor 102, a bearing sleeve 103, a gearwheel 104, a bearing 105, a module fixing sleeve 106, a gripper 2, a rotating ball-cutting piece steering engine 201, a ball-lifting cylinder 202, a gripper ball storage main body 203, a steering engine fixing frame 204, a ball-lifting piece steering engine 205, a steering engine fixing support 206, a lifting mechanism 207, a ball-lifting piece 208, a rotating ball-cutting piece 209, a ball-lifting cylinder fixing plate 210, a ball-guiding groove 211, a connecting plate 212, an optical axis 213, a gripper rotating steering engine 214, a ball-guiding hole 215, a lifting arm mechanism 3, a lifting screw 301, a lifting connecting block 302, a lifting fixing frame 303, a translation arm mechanism 4, a translation screw 401, a translation fixing frame 402, a translation connecting block 403 and a translation driving.
Detailed Description
The present invention will be further described with reference to the following specific examples, but the scope of the present invention is not limited to the following examples.
The utility model provides a grab spherical product manipulator of access of polar coordinate formula, as shown in fig. 1 and 2, including polar coordinate formula arm, arm one end is connected with the gripper, combines fig. 3~6 to show, the gripper includes that the gripper deposits ball main part 203, steering wheel fixed bolster 206, lifts ball section steering wheel 205, elevating system 207, rotatory ball section steering wheel 201 of cutting, rotatory ball section 209 of cutting, lifts ball section of thick bamboo fixed plate 210, lifts ball section of thick bamboo 202, lifts ball section 208 and optical axis 213, wherein: the mechanical claw ball storage main body 203 is sealed at the periphery and used for storing ball-shaped products, and the lower part of the mechanical claw ball storage main body is provided with a ball inlet; the steering engine fixing support 206 is arranged above the mechanical claw ball storage main body 203; the ball lifting slicing steering engine 205 is arranged below the steering engine fixing support 206 and is fixed through the steering engine fixing support 206; the upper end of the lifting mechanism 207 is connected with the steering engine fixing support 206, the lower end of the lifting mechanism is arranged in the lifting mechanism support seat, the lifting mechanism support seat is fixed by the mechanical claw ball storage main body 203, namely the lifting mechanism support seat can be connected with one side of the mechanical claw ball storage main body 203 and also can be connected with the top of the mechanical claw ball storage main body 203, and the lifting mechanism 207 lifts the ball lifting slicing steering engine 205 by lifting the steering engine fixing support 206; the rotary ball cutting piece steering engine 201 is fixed on one side of the lower part of the mechanical claw ball storage main body 203; the rotary ball cutting sheet 209 is arranged below the rotary ball cutting sheet steering engine 201 and is controlled by the rotary ball cutting sheet steering engine 201; the ball lifting barrel fixing plate 210 is fixed below the mechanical claw ball storage main body 203, and a ball cutting space is reserved between the ball lifting barrel fixing plate 210 and the mechanical claw ball storage main body 203 to accommodate the rotary ball cutting piece steering engine 201 and the rotary ball cutting piece 209, as shown in fig. 7; the ball lifting cylinder 202 is fixed below the ball lifting cylinder fixing plate 210 and is communicated with the ball cutting space, and a through hole, namely a ball guiding hole 215 is generally formed in the ball lifting cylinder fixing plate 210, so that a spherical product can be lifted from the ball lifting cylinder 202 to the ball cutting space; the ball lifting piece 208 is connected with the ball lifting slice steering engine 205 through an optical axis 213 and can move up and down between the lower part and the upper part of the ball lifting cylinder 202, namely the optical axis 213 penetrates through the mechanical claw ball storage main body 203 to be connected with the ball lifting slice steering engine 205, the optical axis 213 drives the ball lifting piece 208 to move up to the upper part of the ball lifting cylinder fixing plate 210 along the ball lifting cylinder 202 from the lower part of the ball lifting cylinder 202, and the same reverse motion is also possible; the rotary ball cutting plate 209 can rotate to pass above the ball lifting plate 208 and shield the lower part of the ball inlet hole. When the spherical product needs to be captured and stored, as shown in fig. 3 and 4, the ball lifting piece 208 is extended to the bottom end of the ball lifting cylinder 202, then the ball lifting cylinder 202 is used to cover the spherical product, and the height of the ball lifting cylinder is more than two thirds of the height of the spherical product, as shown in fig. 12, the ball lifting piece 208 rotates to block the corresponding passage opening of the ball lifting cylinder 202 and cut the spherical product into the passage of the ball lifting cylinder 202, as shown in fig. 5 and 6, the lifting mechanism is lifted to drive the ball lifting piece 208 to move upwards to lift the spherical product below the ball cutting piece 209, then the ball cutting piece 209 rotates to not block the lifted spherical product, the ball lifting piece 208 continues to be lifted to at least 2/3, the ball cutting piece 209 rotates to cut the spherical product into the mechanical claw ball storage body 203 through the ball inlet, and the ball cutting piece 209 keeps blocking the ball inlet so that the spherical product does not leak out, and the above process is repeated, to capture more spherical product and store it in the gripper ball storage body 203. When a spherical product exists in the gripper ball storage main body 203, the spherical product is lifted to the front of the gripper ball storage main body 203 again, the ball cutting piece 209 is opened, the original spherical product in the gripper ball storage main body 203 freely falls to a height slightly larger than the thickness of the ball cutting piece 209, the original spherical product and the spherical product lifted by the ball lifting piece 208 are lifted to a storage area to be stored together, and then the ball cutting piece 209 is closed to cut the ball into the gripper ball storage main body 203, so that reciprocating periodic motion is realized, and the function of storing the spherical product is realized. The ball guiding groove 211 is preferably disposed at a position below the ball inlet, and the ball guiding groove 211 may be opened on the sidewall of the gripper ball storing body 203 to better guide the ball-shaped product into the gripper ball storing body 203.
Further, the present embodiment provides a lifting mechanism 207 which is convenient to control, the lifting mechanism 207 adopts an electric push rod, and the control of the lifting and the lowering of the electric push rod is the prior art, and is not described in detail here.
Further, in order to conveniently carry out the ball work of grabbing of each angle, but this embodiment still sets up the gripper into the form of rotation angle, the gripper still includes the fixed frame of steering wheel 204 and the rotatory steering wheel 214 of gripper, the fixed frame one side of steering wheel is connected with polar coordinate formula arm, the opposite side rotates with the rotatory steering wheel of gripper and is connected, the rotatory steering wheel of gripper is used for driving the gripper rotatory, in this embodiment, the rotatory steering wheel 214 of gripper is connected with connecting plate 212, it rotates to drive connecting plate 212, the outer end and the gripper of connecting plate 212 deposit ball main part 203 and are connected, it rotates to drive the gripper and deposit ball main part 203, so can make and lift ball section of thick bamboo 202 and snatch the globular product of different positions.
Further, considering that spherical products have different sizes, the present embodiment designs a structure capable of grabbing balls of different sizes in a targeted manner, and as shown in fig. 8 and fig. 9, two rotary ball cutting blade steering engines 201, two rotary ball cutting blades 209, two ball lifting cylinders 202, and two mechanical claw ball storage bodies 203 are provided, and are generally arranged together, or are separated into two parts by a partition, and the illustration in the present embodiment is that the separation is performed by a partition. The diameters of the ball lifting cylinders 202 are different to grab balls with different sizes, the middle parts of the ball lifting cylinders are communicated, the optical axis 213 is arranged at the position where the two ball lifting cylinders 202 are communicated to realize the lifting of the optical axis 213, during the lifting, the ball lifting sheet 208 is positioned in the ball lifting cylinders 202, the ball lifting sheet 208 can be rotatably adjusted to different ball lifting cylinders 202, therefore, the grabbing of a large ball and the grabbing of a small ball can share the same, and the large ball and the small ball can be respectively cut into different mechanical claw ball storage bodies 203 through different rotary ball cutting sheets 209 in a rotating mode.
Further, the embodiment further provides a mechanical arm structure, as shown in fig. 10, the mechanical arm includes a lifting arm mechanism 3 and a translation arm mechanism 4, the lifting arm mechanism 3 includes a lifting driving motor, a lifting screw 301 and a lifting connecting block 302, the lifting screw 301 is vertically disposed, an internal thread is disposed in the lifting connecting block 302 and is matched with the lifting screw 301, the lifting driving motor drives the lifting connecting block to move linearly through the lifting screw 301, the lifting fixing frame 303 provides a supporting structure for the lifting screw 301, and can fix the lifting driving motor, more specifically, in this embodiment, a fixed portion of the lifting driving motor is connected to the bottom surface of the lifting fixing frame 303, an output shaft of the lifting driving motor passes through the lifting fixing frame 303 and is connected to one end of the lifting screw 301, and the other end of the lifting screw 301 is rotatably connected to the inner top surface of the lifting fixing frame 303. Translation arm mechanism 4 includes translation driving motor 404, translation lead screw 401 and translation connecting block 403, translation lead screw 401 transversely sets up, it cooperatees with translation lead screw 401 to be equipped with the internal thread in the translation connecting block 403, translation driving motor passes through the horizontal linear motion of translation lead screw drive translation connecting block, lift connecting block 302 is connected with translation connecting block 403, lift connecting block 302 and translation connecting block 403 can be lug connection, also can connect through the connecting piece, translation lead screw 401 keeps away from the one end and the gripper of translation driving motor 404 and is connected. The translation fixing frame 402 provides a supporting structure for the translation screw rod 401, and can fix the translation driving motor 404, and more specifically, in this embodiment, a fixed portion of the translation driving motor 404 is connected with an outer side surface of the translation fixing frame 402, an output shaft of the translation driving motor 404 passes through the translation fixing frame 402 to be connected with one end of the translation screw rod 401, and the other end of the translation screw rod 401 is rotatably connected with an inner top surface of the translation fixing frame 402.
Further, as shown in fig. 11, the mechanical arm further includes a rotating mechanism 1 to rotate at different large angles, the rotating mechanism includes a rotating driving motor 102, a small gear 101 and a large gear 104, the rotating driving motor drives the small gear 101 to rotate, the small gear 101 is engaged with the large gear 104, and the large gear 104 drives the lifting arm mechanism 3 to rotate. The small gear 101 and the large gear 104 are relatively larger and smaller to achieve the speed reduction function. The embodiment is provided with a rotary driving motor fixing block 105, one side of which is used for fixing the rotary driving motor 102, the upper end of the rotary driving motor 102 is connected with the pinion 101, a bearing 105 is arranged below the gearwheel 104, the fixing part of the bearing 105 is fixedly connected with the bottom plate, so that the lifting arm mechanism 3 can rotate relative to the bottom plate, the middle of the gearwheel 104 is fixedly connected with the lifting arm mechanism 3, and the lifting driving motor in the lifting arm mechanism 3 can be embedded at the connecting position. More specifically, the embodiment is further provided with a module fixing sleeve 106, the module fixing sleeve 106 is large in the middle, small in the upper part and the lower part, the upper part of the module fixing sleeve 106 is sleeved in the large gear 104 and fixedly connected with the inner wall of the large gear 104 and can rotate synchronously with the large gear 104, a lifting fixing frame 303 is sleeved in the upper part of the module fixing sleeve 106 or is directly connected with the lifting fixing frame 303 so as to drive the lifting fixing frame 303 to rotate, a lifting driving motor is further sleeved in the module fixing sleeve 106, and the fixed part of the lifting driving motor is connected with the module fixing sleeve 106; the lower part of the module fixing sleeve 106 is sleeved in the two bearing bearings 105 and can rotate relative to the bearing bearings 105, and in order to protect the bearing bearings 105, the bearing bearings 105 are sleeved in the bearing sleeve 103; the middle part of the module fixing sleeve 106 can bear better load. This embodiment has set up this module fixed cover 106 and has hidden lift driving motor to can reduce the height of lifing arm mechanism 3, reduce the occupation space of whole device, enable rotary mechanism 1 to store the module invalid stroke of Y axle promptly through the fixed cover 106 of module, reduce extravagant space, can also reach the rotatory important function of drive lifing arm mechanism 3.
Above-mentioned polar coordinate formula arm structure can drive 2 wide-angle rotations of gripper through rotary mechanism 1 is rotatory, can drive gripper 2 through control lift driving motor and reciprocate, can drive gripper 2 lateral shifting through control translation driving motor 404 to satisfy the needs of snatching of the globular product in different positions.
Claims (7)
1. The utility model provides a grab globular product manipulator of access of polar coordinate formula, includes polar coordinate formula arm, arm one end is connected with the gripper, its characterized in that:
the gripper includes:
the mechanical claw ball storage main body is sealed at the periphery, and the lower part of the mechanical claw ball storage main body is provided with a ball inlet;
the steering engine fixing support is arranged above the mechanical claw ball storage main body;
the ball lifting slicing steering engine is arranged below the steering engine fixing support;
the upper end of the lifting mechanism is connected with the steering engine fixing support, the lower end of the lifting mechanism is arranged in the lifting mechanism supporting seat, and the lifting mechanism supporting seat is fixed by the mechanical claw ball storage main body;
the rotary ball cutting piece steering engine is fixed on one side of the lower part of the mechanical claw ball storage main body;
the rotary ball cutting sheet is arranged below the rotary ball cutting sheet steering engine and is controlled by the rotary ball cutting sheet steering engine;
the ball lifting cylinder fixing plate is fixed below the mechanical claw ball storage main body, and a ball cutting space is reserved between the ball lifting cylinder fixing plate and the mechanical claw ball storage main body and used for accommodating the rotary ball cutting piece steering engine and the rotary ball cutting piece;
the ball lifting cylinder is fixed below the ball lifting cylinder fixing plate and is communicated with the ball cutting space;
the ball lifting piece is connected with the ball lifting slice steering engine through an optical axis and can move up and down between the lower part and the upper part of the ball lifting cylinder;
the rotary ball cutting piece can rotate to pass through the upper part of the ball lifting piece and shield the lower part of the ball inlet hole.
2. The polar coordinate type manipulator for grabbing and storing spherical products according to claim 1, wherein:
the lifting mechanism is an electric push rod.
3. The polar coordinate type manipulator for grabbing and storing spherical products according to claim 1, wherein:
the gripper further comprises a steering engine fixing frame and a gripper rotating steering engine, one side of the steering engine fixing frame is connected with the polar coordinate type mechanical arm, the other side of the steering engine fixing frame is rotatably connected with the gripper rotating steering engine, and the gripper rotating steering engine is used for driving the gripper to rotate.
4. The polar coordinate type manipulator for grabbing and storing spherical products according to claim 1, wherein:
the rotary ball cutting piece steering engine, the rotary ball cutting pieces, the ball lifting cylinders and the mechanical claw ball storage main bodies are all provided with two, the diameters of the ball lifting cylinders are different so as to grab balls with different sizes, the middle parts of the ball lifting cylinders are communicated, and the optical axes are arranged at the positions where the two ball lifting cylinders are communicated.
5. The polar coordinate type manipulator for grabbing and storing spherical products according to claim 1, wherein:
the mechanical arm comprises a lifting arm mechanism and a translation arm mechanism, the lifting arm mechanism comprises a lifting driving motor, a lifting screw rod and a lifting connecting block, the lifting screw rod is vertically arranged, the lifting driving motor drives the lifting connecting block to move through the lifting screw rod, the translation arm mechanism comprises a translation driving motor, a translation screw rod and a translation connecting block, the translation screw rod is transversely arranged, the translation driving motor drives the translation connecting block to move through the translation screw rod, and the lifting connecting block is connected with the translation connecting block; and one end of the translation screw rod, which is far away from the translation driving motor, is connected with the mechanical claw.
6. The polar coordinate type manipulator for grabbing and storing spherical products according to claim 5, wherein:
the arm still includes rotary mechanism, rotary mechanism includes rotation driving motor, pinion and gear wheel, rotation driving motor drives the pinion is rotatory, the pinion with gear wheel mesh, the gear wheel drives the rotation of lifing arm mechanism.
7. The polar coordinate type manipulator for grabbing and storing spherical products according to claim 6, wherein:
the lifting arm mechanism also comprises a module fixing sleeve, the upper part of the module fixing sleeve is sleeved with a large gear to enable the lifting arm mechanism to synchronously rotate, and the lower part of the module fixing sleeve is sleeved in a bearing and can rotate relative to the bearing; the inside cover is equipped with lift driving motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922414679.XU CN211415166U (en) | 2019-12-29 | 2019-12-29 | Polar coordinate type manipulator for grabbing and storing spherical products |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922414679.XU CN211415166U (en) | 2019-12-29 | 2019-12-29 | Polar coordinate type manipulator for grabbing and storing spherical products |
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| Publication Number | Publication Date |
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| CN211415166U true CN211415166U (en) | 2020-09-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201922414679.XU Withdrawn - After Issue CN211415166U (en) | 2019-12-29 | 2019-12-29 | Polar coordinate type manipulator for grabbing and storing spherical products |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110948473A (en) * | 2019-12-29 | 2020-04-03 | 桂林电子科技大学 | Polar coordinate type manipulator for grabbing and storing spherical products |
-
2019
- 2019-12-29 CN CN201922414679.XU patent/CN211415166U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110948473A (en) * | 2019-12-29 | 2020-04-03 | 桂林电子科技大学 | Polar coordinate type manipulator for grabbing and storing spherical products |
| CN110948473B (en) * | 2019-12-29 | 2023-11-24 | 桂林电子科技大学 | Polar coordinate type grabbing and storing spherical product manipulator |
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Effective date of registration: 20230509 Address after: No. 8, Building G8, Xinlvyuan, Guikang New City, Lingui District, Guilin City, Guangxi Zhuang Autonomous Region, 541199 Patentee after: Lingui mingchuang electromechanical Co.,Ltd. Address before: 541004 1 Jinji Road, Qixing District, Guilin, the Guangxi Zhuang Autonomous Region Patentee before: GUILIN University OF ELECTRONIC TECHNOLOGY |
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