CN109650046B - Material transfer mechanical arm device of production line - Google Patents
Material transfer mechanical arm device of production line Download PDFInfo
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- CN109650046B CN109650046B CN201910052292.6A CN201910052292A CN109650046B CN 109650046 B CN109650046 B CN 109650046B CN 201910052292 A CN201910052292 A CN 201910052292A CN 109650046 B CN109650046 B CN 109650046B
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- 230000005540 biological transmission Effects 0.000 claims abstract description 47
- 230000007246 mechanism Effects 0.000 claims description 7
- 230000000149 penetrating effect Effects 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a material transfer mechanical arm device of a production line, which comprises a power transmission rack, wherein arm frames of the power transmission rack are connected with a material gripper platform, and a first parallelogram frame, a second parallelogram frame and a third parallelogram frame are arranged on two sides of the power transmission rack in parallel and symmetrically; the front ends of the upper frame and the lower frame of the first parallelogram frame are respectively connected with the arm frame through a first rotating shaft and a second rotating shaft which are arranged on the upper side and the lower side of the connecting arm frame, the rear ends of the upper frame and the lower frame of the first parallelogram frame are connected with the power output of the power transmission frame, and the upper frame and the lower frame of the first parallelogram frame control the material gripper platform to move up, down, front and back through the arm frame.
Description
Technical Field
The invention relates to a material transfer mechanical arm device of a production line, which is a mechanical arm device for transferring materials above the materials through a connecting rod mechanism.
Background
Robots are increasingly used in industrial pipelines. The robot with the structure can be divided into two main types of a connecting rod type robot and a joint robot according to the structure, but at present, no matter what structure of the robot is used, a robot body is installed on the ground, in the field scheme design, the robot and the butted equipment are in a plane layout, a plurality of butted equipment are arranged around the robot, and the robot is arranged at the side edge of the butted equipment. The robots are arranged and fixed on the ground in a space required by the robots, so that the robots are more required on the ground, and a large economic burden is brought to enterprises in the time of the undersize money.
Disclosure of Invention
The invention aims to provide a material transfer mechanical arm device of a production line, which realizes the up-down front-back movement of a robot arm through a parallelogram formed by a swing rod and a push rod which are arranged in parallel, and a push rod power driving rod and a gripper connecting rod which are connected with the swing rod and the push rod.
In order to achieve the above object, the present invention is provided with: the mechanical arm device for material transfer of the production line comprises a power transmission rack, wherein the power transmission rack is arranged above a material to be transferred of the production line, and is connected with a material gripper platform through an arm frame arranged in front of the power transmission rack, and a first parallelogram frame, a second parallelogram frame and a third parallelogram frame are arranged on two sides of the power transmission rack in parallel and symmetrically; the front ends of the upper and lower frames of the first parallelogram frame are respectively connected with the arm frame through a first rotating shaft and a second rotating shaft which are arranged on the upper and lower sides of the connecting arm frame, the rear ends of the upper and lower frames of the first parallelogram frame are connected with the power output of a power transmission frame, the upper and lower frames of the first parallelogram frame control the movement of the material gripper platform up, down, front and back through the arm frame, the two sides of the power transmission frame are respectively provided with a crank, the crank is provided with a second connecting arm and a first connecting arm which are arranged up and down at an angle greater than 90 degrees, the crank is rotatably connected with the arm frame through a first rotating shaft on the arm frame, the second connecting arm passes through the intersection center of the first connecting arm and the second connecting arm, the upper part of the second connecting arm serves as the front arm of the third parallelogram frame, and the lower part of the first connecting arm serves as the upper arm of the second parallelogram frame; the second parallelogram frame is used for keeping the horizontal stability of the front-back movement of the material gripper platform, and the third parallelogram frame is used for keeping the horizontal stability of the up-down movement of the material gripper platform.
The scheme is further as follows: the first parallelogram frame comprises a swing arm serving as an upper frame and a pushing arm serving as a lower frame, wherein the swing arm and the pushing arm are mutually parallel, one ends of the swing arm and the pushing arm are respectively connected with the arm frame through a first rotating shaft and a second rotating shaft, the other end of the swing arm is connected with a first rotating driving shaft arranged in the power transmission frame, the other end of the pushing arm is connected with one end of a swing driving arm, the other end of the swing driving arm is connected with a second rotating driving shaft arranged in the power transmission frame, and the first rotating driving shaft and the second rotating driving shaft are concentrically sleeved; the length sections between the swing arm and the pushing arm and the first rotating shaft and the second rotating shaft on the arm frame and the swing driving arm form a first parallelogram frame;
the second parallelogram frame comprises a first connecting arm of a crank, the tail end of the first connecting arm is connected with one end of a connecting rod, the connecting rod is relatively parallel to the length section between the first rotating shaft and the second rotating shaft of the arm frame, the other end of the connecting rod is connected with one end of a horizontal supporting rod, the horizontal supporting rod is relatively parallel to the first connecting arm, and the other end of the horizontal supporting rod penetrates through the side wall of the arm frame through a shaft rod to be fixedly connected with the material gripper platform; the length sections between the first connecting arm and the horizontal supporting rod and the connecting rod and the first rotating shaft and the shaft lever on the arm frame form the second parallelogram frame;
the third parallelogram frame comprises a second connecting arm of the crank, the tail end of the second connecting arm is connected with one end of a fixed shaft lever, the fixed shaft lever is relatively parallel to the swing arm, the other end of the fixed shaft lever is fixedly connected with the power transmission frame through a positioning shaft, and the second connecting arm is relatively parallel to a length section between the positioning shaft and the first rotating driving shaft on the power transmission frame; the length section between the positioning shaft and the first rotating driving shaft on the second connecting arm and the transmission frame forms the third parallelogram frame with the swing arm and the fixed shaft lever.
The scheme is further as follows: on the arm frame, the axostylus axostyle is in the downside of second pivot.
The scheme is further as follows: a first driving device and a second driving device are respectively arranged in the power transmission frame, the first driving device is used for driving the first rotating driving shaft to rotate, and the second driving device is used for driving the second rotating driving shaft to rotate.
The scheme is further as follows: the driving device comprises a driving motor, the driving motor is connected with a screw rod through a speed reducing mechanism, the screw rod is sleeved with a nut, the nut is connected with a driving block, the driving block is connected with a driving shaft through a connector, the driving motor drives the screw rod to rotate, the rotating screw rod drives the driving block to linearly move back and forth along the screw rod through the nut, and the driving block which linearly moves drives the driving shaft to rotate through the connector.
The scheme is further as follows: the driving block is a rack, the connector is a gear, the gear is connected with the driving shaft through a key slot hole, and the rack which moves linearly drives the driving shaft to rotate through meshing with the gear.
The scheme is further as follows: the driving block is provided with a sliding block, the connector is a torque wrench, an opening of the torque wrench is fixedly connected with the driving shaft in a sleeved mode, a sliding groove is formed in a wrench handle of the torque wrench, the sliding groove is sleeved with the sliding block, and the driving block which is in linear movement with the sliding block and is sleeved with the sliding groove drives the torque wrench to rotate around the driving shaft.
The scheme is further as follows: as a first driving device, the included angle between the axis of the swing arm and the axis of the chute is 160 degrees; as a second driving device, the included angle between the axis of the swing driving arm and the axis of the sliding groove is 72 degrees.
The scheme is further as follows: the driving motor is a servo motor, the servo motor comprises a rotary signal output encoder, the signal output of the encoder is connected with the signal input of a controller, the signal output of the controller is connected with a control motor, a microprocessor control unit is arranged in the controller, and the microprocessor control unit realizes the control of the power output of the swing arm and the pushing arm through the analysis of the rotary signal of the servo motor.
The beneficial effects of the invention are as follows: the device can be used for grabbing materials at a high position of a production line, and can be used for carrying the materials up, down, front and back, and is compact in structure.
The present invention will be described in detail with reference to the accompanying drawings and examples.
Drawings
FIG. 1 is a schematic front view of the overall structure of the present invention;
FIG. 2 is a schematic view of the internal structure of the present invention, partially cut-away, of FIG. 1;
FIG. 3 is a schematic view of the three parallelogram interrelationships of the present invention, side view of FIG. 1;
FIG. 4 is a schematic view of the internal drive structure of the power transmission frame of the present invention;
FIG. 5 is a schematic view showing the angular relationship between a swing arm and a chute according to the present invention;
FIG. 6 is a schematic view showing the angular relationship between the push arm and the chute according to the present invention;
FIG. 7 is a schematic view of the working state of the push arm of the present invention;
fig. 8 is a schematic diagram of the working state of the swing arm of the present invention.
Detailed Description
A production line material transfer mechanical arm device, as shown in fig. 1, the production line material transfer mechanical arm device comprises a power transmission rack 1, wherein the power transmission rack 1 is arranged above a conveyed material of a production line, for example, is fixed on a production line frame to save occupied space, the power transmission rack 1 is connected with a material gripper platform 4 through an arm frame 3 arranged in front of the power transmission rack 1, the gripper platform 4 is used for installing grippers to grip the material, and a first parallelogram frame A1, a second parallelogram frame A2 and a third parallelogram frame A3 are symmetrically arranged on two sides of the power transmission rack 1 in parallel, as shown in fig. 1 and 3; the front frame of the first parallelogram frame is one section of the lengths of two side frames 3001 and 3002 of the arm frame 3, the upper frame and the lower frame of the first parallelogram frame are respectively connected with the two side frames 3001 and 3002 of the arm frame 3 through a first rotating shaft 205 and a second rotating shaft 302 which are arranged on the upper side and the lower side of the arm frame 3, the rear ends of the upper frame and the lower frame of the first parallelogram frame are connected with the power output of the power transmission frame 1, the upper frame and the lower frame of the first parallelogram frame control the upper frame, the lower frame and the rear frame of the material gripper platform 4 to move up, down, front and back through the arm frame 3, the two sides of the power transmission frame 1 are respectively provided with a crank 202, and the second parallelogram frame and the third parallelogram frame are respectively connected with the front frame of the first parallelogram frame through the crank 202; the second parallelogram frame is used for keeping the horizontal stability of the front-back movement of the material gripper platform 4, and the third parallelogram frame is used for keeping the horizontal stability of the up-down movement of the material gripper platform 4; the crank 202 has a second connecting arm 202-2 and a first connecting arm 202-1 which are disposed up and down at an angle greater than 90 degrees, the crank 202 is rotatably connected to the arm frame 3 through a first rotation shaft 205 on the arm frame 3 passing through the intersecting center of the first connecting arm 202-1 and the second connecting arm 202-2, the second connecting arm 202-2 is used as the front arm of the third parallelogram frame A3 at the upper side, and the first connecting arm 202-1 is used as the upper arm of the second parallelogram frame A2 at the lower side.
In the examples: the first parallelogram frame comprises a swing arm 102 serving as an upper frame and a pushing arm 100-14 serving as a lower frame, the swing arm 102 and the pushing arm 100-14 are parallel to each other, the front end of the swing arm 102 is connected to two side frames 3001 and 3002 of the arm frame 3 through a first rotating shaft 205, the front end of the pushing arm 100-14 is connected to a first rotating driving shaft 106 arranged in the power transmission frame 1 through a second rotating shaft 302, the rear end of the swing arm 102 is connected to one end of a swinging driving arm 100-13, the other end of the swinging driving arm 100-13 is connected to a second rotating driving shaft 100-12 arranged in the power transmission frame 1, and the first rotating driving shaft 106 and the second rotating driving shaft 100-12 are concentrically sleeved. As shown in fig. 2, the first rotary driving shaft 106 is sleeved outside the second rotary driving shaft 100-12 through the hollow shaft 103, and is fixed through the fixing base 104 and reinforced inside the power transmission frame 1 through the backing plate 100-10; this is the case: the length between the swing arm 102 and the pushing arm 100-14 and the first rotating shaft and the second rotating shaft on the arm frame 3 and the swinging driving arm 100-13 form the first parallelogram frame;
the second parallelogram frame A2 includes a first connecting arm 202-1 of the crank 202, one end of a connecting rod 203 is connected to the end of the first connecting arm 202-1, and is rotatably connected, the connecting rod 203 is disposed in parallel with a length section between the first rotating shaft 205 and the second rotating shaft 302 on the arm frame 3, the lengths are equal, the other end of the connecting rod 203 is connected to one end of a horizontal supporting rod 303, and is rotatably connected, the horizontal supporting rod 303 is disposed in parallel with the first connecting arm 202-1, the lengths are equal, and the other end of the horizontal supporting rod 303 passes through a side wall of the arm frame 3 and is fixedly connected with the material gripper platform 4 through a shaft lever 402, wherein: the shaft lever 402 is rotatably connected with the side wall of the arm frame 3; this is the case: the length between the first connecting arm and horizontal support bar 303 and the connecting rod 203 and the first pivot 205 and shaft on the arm frame 3 forms the second parallelogram frame;
the third parallelogram frame A3 includes a second connecting arm 202-2 of the crank 202, the end of the second connecting arm 202-2 is connected with one end of a fixed shaft lever 2, the fixed shaft lever 2 is relatively parallel to the swing arm 102, the length is the same, the other end of the fixed shaft lever 2 is fixedly connected with the power transmission frame 1 through a positioning shaft 105, the second connecting arm 202-2 is relatively parallel to the length section between the positioning shaft 105 and the first rotating driving shaft on the power transmission frame 1, and the lengths are equal; this is the case: the second connecting arm 202-2 and the length d between the positioning shaft 105 and the axle center of the first rotating driving shaft 106 on the transmission rack 1 form the third parallelogram frame with the swing arm 102 and the fixed shaft lever 2;
wherein:
the first parallelogram frame A1 has the following functions:
the first rotating driving shaft rotates to drive the swing arm 102 to do arc swing, and the arc swing arm 102 drives the arm frame 3 and the material gripper platform 4 to move in an up-down arc;
the second rotating driving shaft rotates to drive the swinging driving arm 100-13 to do circular arc swinging, and the circular arc swinging driving arm 100-13 drives the pushing arm 100-14, the arm frame 3 and the material gripper platform 4 to move in a front-back arc manner;
the second parallelogram frame A2 has the following functions:
as shown in fig. 7: when the pushing arms 100-14 push the arm frame (3) to move forwards and backwards, the original state of the crank 202 corresponding to the third parallelogram frame A3 is unchanged, and the horizontal support rod 303 is fixedly connected with the material gripper platform 4 so that the material gripper platform 4 is always in a horizontal state;
the third parallelogram frame A3 has the following functions:
as shown in fig. 8: when the swing arm 102 swings in an arc, the fixed shaft lever 2 ensures that the original state of the crank 202 corresponding to the second parallelogram frame A2 is unchanged, so that the material gripper platform 4 is always in a horizontal state.
In an embodiment, on the arm frame 3, the shaft 402 may be disposed on the upper side of the second rotating shaft 302, and between the first rotating shaft 205 and the second rotating shaft 302, the shaft 402 is disposed on the lower side of the second rotating shaft 302 in this embodiment, so that the structure is more compact.
A first drive means for driving the rotation 106 of the first rotatable drive shaft and a second drive means for driving the rotation of the second rotatable drive shaft 100-12 are provided in the power transmission housing 1, respectively.
The rotation driving the first and second rotary drive shafts 106, 100-12 may have various configurations and may be directly coupled to the drive shafts by a motor and a decelerator.
In this embodiment: the first driving device and the second driving device adopt the same structure, so the first driving device and the second driving device are simply called as driving devices, the driving devices comprise driving motors 100 and 101, the driving motors are connected with screw rods 100-5 and 101-5 through reduction mechanisms, the reduction mechanisms are belt reduction mechanisms, the belt reduction mechanisms comprise driving wheels 100-1 and 101-1, belts 100-2 and 101-2 and driven wheels 100-3 and 101-3, the driven wheels 100-3 and 101-3 are connected with screw rods 100-5 and 101-5, the screw rods 100-5 and 101-5 are fixed through brackets 100-4 and 101-4, the screw rods are sleeved with nuts 100-6 and 101-6, the nuts are connected with driving blocks 100-7 and 101-7, the driving blocks 100-7 and 101-7 are connected with a first rotating driving shaft 106 and a second rotating driving shaft 100-12 through connectors 100-9 and 101-9, the driving motors drive the screw rods to rotate, the driving blocks move linearly back and forth along the screw rods through the nuts, and the linearly moving driving blocks drive the first rotating driving shafts 106 and the second rotating driving shafts 100-12 through the connectors.
The driving block drives the first rotary driving shaft 106 and the second rotary driving shaft 100-12 to rotate, and various options are available, such as driving through racks; wherein: the driving block is a rack, the connector is a gear, the gear is connected with the driving shaft through a key slot, and the rack which moves linearly drives the first rotating driving shaft 106 and the second rotating driving shaft 100-12 to rotate through the meshing with the gear.
Another preferred scheme is adopted in the embodiment: namely: the driving block is provided with sliding blocks 100-11 and 101-11, the connector is a torque wrench 100-10 and 101-10, the tail ends of the torque wrench 100-10 and 101-10 are in up-down sliding connection with linear guide rails 100-8 and 101-8 arranged in the power transmission frame 1, an opening of the torque wrench is fixedly connected with a first rotating driving shaft 106 and a second rotating driving shaft 100-12 in a sleeved mode, a wrench handle of the torque wrench is provided with sliding grooves 100-15 and 101-15, the sliding grooves are sleeved with the sliding blocks, and the driving block which is in linear movement with the sliding blocks drives the torque wrench to rotate around the first rotating driving shaft 106 and the second rotating driving shaft 100-12.
As shown in fig. 5, as the first driving device, the included angle b between the axis of the swing arm 102 and the axis of the chute 100-15 is 160 degrees, the included angle b determines the up-and-down movement range of the robot arm, and the smaller the included angle is, the smaller the down movement range of the robot arm is; if the included angle is larger, the upward moving distance of the robot arm is smaller, so that the common design of the included angle is more than or equal to 160 degrees. As shown in fig. 6, as the second driving device, the included angle a between the axis of the swing driving arm 100-13 and the axis of the chute is 72 degrees, and the value of the included angle a directly determines the forward and backward movement range of the robot arm, so that the included angle is generally designed to be most suitable at about 72 degrees. The smaller the value, the smaller the backward movement range, and the larger the forward movement range. Of course, different angles can be designed according to actual production requirements.
If the material gripper platform 4 is required to rotate, the power transmission rack 1 can be arranged on a rotating platform, and the rotating platform rotates to drive the transmission rack 1 to rotate, so that the material can move in all directions.
In the embodiment, the driving motor is a servo motor, the servo motor comprises a rotary signal output encoder, the signal output of the encoder is connected with the signal input of a controller, the signal output of the controller is connected with a control motor, a microprocessor control unit is arranged in the controller, and the microprocessor control unit realizes the control of the power output of the swing arm 102 and the push arm 100-14 through the analysis of the rotary signal of the servo motor.
Claims (6)
1. The material transfer mechanical arm device of the production line comprises a power transmission frame (1), wherein the power transmission frame (1) is arranged above a conveyed material of the production line, and the power transmission frame (1) is connected with a material gripper platform (4) through an arm frame (3) arranged in front of the power transmission frame (1), and is characterized in that a first parallelogram frame, a second parallelogram frame and a third parallelogram frame are arranged on two sides of the power transmission frame (1) in parallel and symmetrically; the front ends of the upper and lower frames of the first parallelogram frame are respectively connected with the arm frame (3) through a first rotating shaft (205) and a second rotating shaft (302) which are arranged up and down on the arm frame (3), the rear ends of the upper and lower frames of the first parallelogram frame are connected with the power output of the power transmission frame (1), the upper and lower frames of the first parallelogram frame control the movement of the material gripper platform (4) up, down, front and back through the arm frame (3), the two sides of the power transmission frame (1) are respectively provided with a crank, the crank is provided with a second connecting arm and a first connecting arm which are arranged up and down at an angle greater than 90 degrees, the crank is rotationally connected with the arm frame (3) through the first rotating shaft (205) on the arm frame (3) penetrating through the intersecting center of the first connecting arm and the second connecting arm, the second connecting arm is used as the front arm of the third parallelogram frame, and the first connecting arm is used as the upper arm of the second parallelogram frame; the second parallelogram frame is used for keeping the horizontal stability of the front-back movement of the material gripper platform (4), and the third parallelogram frame is used for keeping the horizontal stability of the up-down movement of the material gripper platform (4);
the first parallelogram frame comprises a swing arm (102) serving as an upper frame and a pushing arm (100-14) serving as a lower frame, the swing arm (102) and the pushing arm (100-14) are parallel to each other, one end of the swing arm (102) and one end of the pushing arm (100-14) are connected with the arm frame (3) through a first rotating shaft (205) and a second rotating shaft (302) respectively, the other end of the swing arm (102) is connected with a first rotating driving shaft arranged in the power transmission frame (1), the other end of the pushing arm (100-14) is connected with one end of one swing driving arm (100-13), the other end of the swing driving arm (100-13) is connected with a second rotating driving shaft arranged in the power transmission frame (1), and the first rotating driving shaft and the second rotating driving shaft are concentrically arranged in a sleeved mode; the length sections between the swing arm (102) and the pushing arm (100-14) and the first rotating shaft and the second rotating shaft on the arm frame (3) and the swinging driving arm (100-13) form the first parallelogram frame;
the second parallelogram frame comprises a first connecting arm of a crank, the tail end of the first connecting arm is connected with one end of a connecting rod (203), the connecting rod (203) is relatively parallel to the length section between the first rotating shaft and the second rotating shaft of the arm frame (3), the other end of the connecting rod (203) is connected with one end of a horizontal supporting rod (303), the horizontal supporting rod (303) is relatively parallel to the first connecting arm, and the other end of the horizontal supporting rod (303) penetrates through the side wall of the arm frame (3) through a shaft lever (402) to be fixedly connected with a material gripper platform (4); the length sections between the first connecting arm and the horizontal supporting rod (303) and the connecting rod (203) and the first rotating shaft (205) and the shaft lever on the arm frame (3) form the second parallelogram frame;
the third parallelogram frame comprises a second connecting arm of the crank, the tail end of the second connecting arm is connected with one end of a fixed shaft lever (2), the fixed shaft lever (2) and the swing arm (102) are arranged in parallel relatively, the other end of the fixed shaft lever (2) is fixedly connected with the power transmission frame (1) through a positioning shaft, and the second connecting arm is arranged in parallel relatively to a length section between the positioning shaft and the first rotating driving shaft on the power transmission frame (1); the length section between the positioning shaft and the first rotating driving shaft on the second connecting arm and the transmission frame (1), the swing arm (102) and the fixed shaft lever (2) form the third parallelogram frame;
on the arm frame (3), the shaft lever (402) is arranged at the lower side of the second rotating shaft (302);
a first driving device and a second driving device are respectively arranged in the power transmission frame (1), the first driving device is used for driving the first rotating driving shaft to rotate, and the second driving device is used for driving the second rotating driving shaft to rotate.
2. The production line material transfer robot arm device of claim 1, wherein: the driving device comprises a driving motor, the driving motor is connected with a screw rod through a speed reducing mechanism, the screw rod is sleeved with a nut, the nut is connected with a driving block, the driving block is connected with a driving shaft through a connector, the driving motor drives the screw rod to rotate, the rotating screw rod drives the driving block to linearly move back and forth along the screw rod through the nut, and the driving block which linearly moves drives the driving shaft to rotate through the connector.
3. The production line material transfer robot arm apparatus of claim 2, wherein: the driving block is a rack, the connector is a gear, the gear is connected with the driving shaft through a key slot hole, and the rack which moves linearly drives the driving shaft to rotate through meshing with the gear.
4. The production line material transfer robot arm apparatus of claim 2, wherein: the driving block is provided with a sliding block, the connector is a torque wrench, an opening of the torque wrench is fixedly connected with the driving shaft in a sleeved mode, a sliding groove is formed in a wrench handle of the torque wrench, the sliding groove is sleeved with the sliding block, and the driving block which is in linear movement with the sliding block and is sleeved with the sliding groove drives the torque wrench to rotate around the driving shaft.
5. The production line material transfer robot arm apparatus of claim 4, wherein: as a first driving device, the included angle between the axis of the swing arm (102) and the axis of the chute is 160 degrees; as a second driving device, the included angle between the axis of the swinging driving arm (100-13) and the axis of the chute is 72 degrees.
6. The production line material transfer robot arm apparatus of claim 2, wherein: the driving motor is a servo motor, the servo motor comprises a rotary signal output encoder, the signal output of the encoder is connected with the signal input of a controller, the signal output of the controller is connected with a control motor, a microprocessor control unit is arranged in the controller, and the microprocessor control unit realizes the control of the power output of the swing arm (102) and the push arm (100-14) through the analysis of the rotary signal of the servo motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910052292.6A CN109650046B (en) | 2019-01-21 | 2019-01-21 | Material transfer mechanical arm device of production line |
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| CN201910052292.6A CN109650046B (en) | 2019-01-21 | 2019-01-21 | Material transfer mechanical arm device of production line |
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| CN109650046B true CN109650046B (en) | 2024-02-13 |
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| CN110216975A (en) * | 2019-07-09 | 2019-09-10 | 安吉八塔机器人有限公司 | A kind of multi-function peripheral device people's system |
| CN111376235B (en) * | 2020-03-31 | 2022-07-15 | 哈尔滨工业大学 | Heavy-load four-degree-of-freedom four-parallel four-connecting-rod type actuating mechanism |
| CN114394421B (en) * | 2022-01-29 | 2024-06-07 | 广州Jfe钢板有限公司 | Automatic feeding and discharging device and baking equipment |
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| EP3000565A2 (en) * | 2014-09-25 | 2016-03-30 | Gerhard Schubert GmbH | Robot and robot line comprising the robot and method for controlling the operation of the robot |
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| CN209480717U (en) * | 2019-01-21 | 2019-10-11 | 安徽永成电子机械技术有限公司 | A kind of production line material transmitting robot arm device |
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| CN109650046A (en) | 2019-04-19 |
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