CN117302960A - Adjustable feeding and discharging mechanical arm - Google Patents
Adjustable feeding and discharging mechanical arm Download PDFInfo
- Publication number
- CN117302960A CN117302960A CN202311637116.1A CN202311637116A CN117302960A CN 117302960 A CN117302960 A CN 117302960A CN 202311637116 A CN202311637116 A CN 202311637116A CN 117302960 A CN117302960 A CN 117302960A
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- seat
- telescopic
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- bevel gear
- telescopic arm
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- 238000007599 discharging Methods 0.000 title claims abstract description 19
- 230000005540 biological transmission Effects 0.000 claims abstract description 55
- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 238000009434 installation Methods 0.000 claims description 10
- 238000000034 method Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 238000007650 screen-printing Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of manipulators, in particular to an adjustable feeding and discharging manipulator which comprises a frame, a positioning seat, two driving motors, a connecting rod, a swinging seat, two first telescopic arms, a connecting seat, a rotating sleeve, two second telescopic arms, a telescopic plate, a transmission mechanism, a breaking mechanism, a mounting support plate, a gear motor, a mounting shaft, a U-shaped frame, a connecting slat and a pneumatic clamping jaw.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to an adjustable feeding and discharging manipulator.
Background
The mechanical arm grabs objects through the grippers, and the mechanical arm grippers, also called end effectors, have the functions of clamping, transporting and bearing, so that the processes of hanging, picking, processing and sorting can be completed.
The products printed by the screen printing machine are various, so that the feeding and discharging modes are also various, and further, the mechanical arm required in the production process is also various, the existing mechanical arm for feeding and discharging adopts a double-arm connecting rod structure, the grabbing motion on a plane is achieved by utilizing the parallelogram principle, but the length of four connecting rods of the parallelogram is fixed, so that the movable range of the parallelogram has certain limitation and cannot be flexibly applied to different working environments, and therefore, a novel mechanical arm capable of being adjusted is needed.
Disclosure of Invention
Based on the above, it is necessary to provide an adjustable loading and unloading manipulator for solving the problems in the prior art.
In order to solve the problems in the prior art, the invention adopts the following technical scheme: the utility model provides an adjustable unloading manipulator in, which comprises a frame, the fixed positioning seat that sets up in the frame side, be the fixed two driving motor that set up in frame one side of symmetry state, rotate the connecting rod that sets up between positioning seat and frame and link firmly with every driving motor output shaft is coaxial, the fixed swing seat that sets up on every connecting rod, set up the first telescopic boom on every swing seat, with every first telescopic boom articulated connecting seat, rotate the rotating sleeve who sets up on every connecting seat, with every connecting seat articulated second telescopic boom, set up the expansion plate between two connecting seats, set up the drive mechanism on the expansion plate, set up the disconnected touch mechanism on every connecting seat, the installation extension board that sets up on one of them second telescopic boom, fixed gear motor who sets up on the installation extension board, with every second telescopic boom bottom articulated installation axle, link firmly on the gear motor output and rotate the U-shaped frame that links to each other with the installation axle, the fixed connection on the U-shaped frame and fixed setting is in the pneumatic clamping jaw that is connected both ends, the drive mechanism that makes two second telescopic booms and corresponding to make two second telescopic booms and two are used for the corresponding to the rotating sleeve and make the second telescopic boom and the parallel connection.
Further, the two ends of each connecting seat are respectively hinged with a first hinging seat and a second hinging seat, the first hinging seat is connected with the first telescopic arm, and the second hinging seat is connected with the second telescopic arm.
Further, each first telescopic arm comprises two first threaded pipes which are symmetrically fixedly arranged on the corresponding one of the swing seats and a first threaded rod which is rotatably arranged in each first threaded pipe, each first threaded rod is connected with the corresponding first threaded pipe through threads, each first hinging seat and each second hinging seat are respectively provided with a limiting pipe, each first threaded rod is rotatably arranged in the corresponding limiting pipe on the corresponding first hinging seat, and the rotary sleeve is connected with the first threaded rod in a transmission manner.
Further, each second telescopic arm comprises a second threaded rod arranged in a limiting pipe on the second hinging seat in a rotating mode, and a second threaded pipe connected with each second threaded rod in a threaded mode, the bottom of each second threaded pipe is hinged to the mounting shaft, and the rotary sleeve is connected with the second threaded rod in a transmission mode.
Further, every slip is provided with rotatory interior axle in the rotatory sleeve pipe, and rotatory interior axle's tip is fixed to be provided with the transmission umbrella tooth, a plurality of spacing groove has been seted up to the annular on the rotatory sleeve pipe inner wall, annular is provided with a plurality of spacing on the lateral wall of rotatory interior axle, every spacing groove and every spacing one-to-one, one of them first threaded rod tip on every first flexible arm is provided with first connection umbrella tooth, one of them second threaded rod tip on every second flexible arm is provided with the second and connects umbrella tooth, every first connection umbrella tooth and every second connection umbrella tooth all mesh with the transmission umbrella tooth, the power take off end of breaking contact mechanism links to each other with the transmission umbrella tooth.
Further, the end part of each limiting pipe is provided with a rotating wheel in a rotating mode, each first threaded rod and each second threaded rod are fixedly connected with the rotating wheel in a coaxial mode, and the rotating wheels of each two first threaded rods and the rotating wheels of each two second threaded rods are connected through a belt.
Further, each of the breaking contact mechanisms comprises a mounting frame fixedly arranged on the connecting seat, a push rod fixedly arranged on the mounting frame, and a wheel frame fixedly arranged on the output end of the push rod, wherein each transmission bevel gear is rotationally connected with the corresponding wheel frame, a reset tension spring is arranged at the bottom of each rotating inner shaft, one end of the reset tension spring is connected with the rotating inner shaft, and the other end of the reset tension spring is connected with the rotating sleeve.
Further, the transmission mechanism comprises positioning small plates which are symmetrically arranged at two ends of the expansion plate, connecting shafts which are rotatably arranged on each positioning small plate, driving bevel gears and driven wheels which are coaxially and fixedly connected to the connecting shafts, a supporting transverse plate which is fixedly arranged on the expansion plate, a sliding groove which is arranged on the supporting transverse plate, a movable seat which is slidably arranged in the sliding groove, a power motor which is fixedly arranged on the movable seat, a driving wheel which is coaxially and fixedly connected to the output shaft of the power motor, two abutting wheels which are symmetrically rotatably arranged on the expansion plate, and driving bevel gears which are coaxially and fixedly connected to each rotating sleeve, wherein each driving bevel gear is meshed with the corresponding driving bevel gear, a reset spring is arranged on the movable seat, one end of the reset spring is connected with the inner wall of the sliding groove, the other end of the reset spring is connected with the movable seat, and the driving wheel, the driven wheels and the two abutting wheels are connected through a transmission belt.
Compared with the prior art, the invention has the following beneficial effects:
the method comprises the following steps: according to the adjustable feeding and discharging manipulator, the first telescopic arm and the second telescopic arm can synchronously shrink through the transmission mechanism, so that the grabbing range of the manipulator is enlarged, the manipulator can meet different working requirements, and the production cost is reduced;
and two,: according to the adjustable feeding and discharging manipulator, through the breaking mechanism, when the manipulator normally feeds and discharges materials, the transmission bevel gear can not be meshed with the first connection bevel gear and the second connection bevel gear any more, and the first threaded rod and the second threaded rod can not rotate when the manipulator operates;
and thirdly,: according to the adjustable feeding and discharging manipulator, the movable seat which elastically slides is arranged on the supporting transverse plate, so that the manipulator can be ensured to be always stretched when in operation, the device can stably operate, and the lengths of the first telescopic arm and the second telescopic arm can be timely adjusted in a transmission mode.
Drawings
FIG. 1 is a schematic perspective view of an embodiment;
FIG. 2 is a schematic perspective view of a second embodiment;
FIG. 3 is a side view of a first telescoping arm and a second telescoping arm of an embodiment;
fig. 4 is an exploded perspective view of the first hinge base and the second hinge base according to the embodiment;
FIG. 5 is an enlarged schematic view of the structure shown at A in FIG. 4;
FIG. 6 is a schematic perspective view of the transmission mechanism of the embodiment;
FIG. 7 is a schematic plan view of the structure at the expansion plate of the embodiment;
fig. 8 is a simplified schematic diagram of the movement states of the first telescopic arm and the second telescopic arm according to the embodiment.
The reference numerals in the figures are: 1. a frame; 2. a driving motor; 3. a positioning seat; 4. a connecting rod; 5. a swinging seat; 6. a first telescopic arm; 7. a first threaded pipe; 8. a first threaded rod; 9. a first connecting bevel gear; 10. a first hinge base; 11. a limiting tube; 12. a rotating wheel; 13. a belt; 14. a connecting seat; 15. an avoidance groove; 16. rotating the sleeve; 17. a limit groove; 18. rotating the inner shaft; 19. a limit bar; 20. resetting the tension spring; 21. a transmission bevel gear; 22. driving the umbrella teeth; 23. a telescoping plate; 24. a transmission mechanism; 25. positioning the small plate; 26. a connecting shaft; 27. a driving bevel gear; 28. driven wheel; 29. a supporting cross plate; 30. a sliding groove; 31. a movable seat; 32. a return spring; 33. a power motor; 34. a driving wheel; 35. a transmission belt; 36. a contact wheel; 37. the second hinge seat; 38. a second telescopic arm; 39. a second threaded rod; 40. the second connecting umbrella teeth; 41. a second threaded tube; 42. mounting a support plate; 43. a speed reducing motor; 44. a mounting shaft; 45. a U-shaped frame; 46. connecting the lath; 47. pneumatic clamping jaws; 48. a touch breaking mechanism; 49. a mounting frame; 50. a push rod; 51. and the wheel frame.
Detailed Description
The invention will be further described in detail with reference to the drawings and the detailed description below, in order to further understand the features and technical means of the invention and the specific objects and functions achieved.
Referring to fig. 1 to 8:
the utility model provides an adjustable unloading manipulator, which comprises a frame 1, the fixed positioning seat 3 that sets up in frame 1 side, be the fixed two driving motor 2 that set up in frame 1 one side of symmetry state, rotate the connecting rod 4 that sets up between positioning seat 3 and frame 1 and link firmly with every driving motor 2 output shaft is coaxial, the fixed swing seat 5 that sets up on every connecting rod 4, set up the first telescopic boom 6 on every swing seat 5, with the articulated connecting seat 14 of every first telescopic boom 6, rotate the rotary sleeve 16 that sets up on every connecting seat 14, with the articulated second telescopic boom 38 of every connecting seat 14, set up the expansion plate 23 between two connecting seats 14, the drive mechanism 24 that sets up on expansion plate 23, the disconnected touch-off mechanism 48 that sets up on every connecting seat 14, the installation extension plate 42 that sets up on one of second telescopic boom 38, the fixed gear motor 43 that sets up on the installation extension plate 42, with every second telescopic boom 38 bottom articulated installation axle 44, set up on the output of gear motor 43 and link firmly and with installation axle 45, the second telescopic boom 46 and set up on the U-shaped arm 16 and set up on the second telescopic boom 16 and make the second telescopic boom 46 and the rotary sleeve 16 and make the two parallel connection mechanism and the two parallel connection 45 make it correspond to form the rotary sleeve 16 with two and the second telescopic jack-up, the rotary sleeve 46.
When the device is operated, the driving motor 2 starts to drive the connecting rod 4 to rotate, the connecting rod 4 rotates to drive the swinging seat 5 to rotate, the swinging seat 5 rotates to enable the first telescopic arm 6 to swing, the first telescopic arm 6 swings to drive the second telescopic arm 38 to move, the second telescopic arm 38 moves to drive the mounting shaft 44 to move on a plane, in the process, the telescopic plate 23 is adaptively contracted, the device stably operates, the rigidity of the reinforcing structure is enhanced, the speed reducing motor 43 moves to enable the U-shaped frame 45 to rotate, the U-shaped frame 45 rotates to drive the connecting lath 46 to rotate, the connecting lath 46 moves to enable the two pneumatic clamping jaws 47 to swing, and then the two first telescopic arms 6 and the two second telescopic arms 38 and the pneumatic clamping jaws 47 driven to rotate by the speed reducing motor 43 are used for loading and unloading, and the first telescopic arm 6 and the second telescopic arms 38 can be synchronously stretched and shortened as required under the driving of the driving mechanism 24, so that the movement range of the pneumatic clamping jaws 47 on the plane is further enlarged, and the device can meet different production environments.
In order to exhibit the articulated relationship between the first telescopic arm 6 and the second telescopic arm 38, the following features are provided in particular:
the two ends of each connecting seat 14 are respectively hinged with a first hinging seat 10 and a second hinging seat 37, the first hinging seat 10 is connected with the first telescopic arm 6, and the second hinging seat 37 is connected with the second telescopic arm 38.
When the device operates, the first telescopic arms 6 and the second telescopic arms 38 form a hinged relation through the first hinging seat 10 and the second hinging seat 37, and then the two first telescopic arms 6 and the two second telescopic arms 38 form a parallelogram, so that the pneumatic clamping jaw 47 below can flexibly feed and discharge.
In order to reveal the detailed structure of the first telescopic arm 6, the following features are provided in particular:
each first telescopic arm 6 comprises two first threaded pipes 7 which are symmetrically fixedly arranged on the corresponding one swinging seat 5 and a first threaded rod 8 which is rotatably arranged in each first threaded pipe 7, each first threaded rod 8 is connected with the corresponding first threaded pipe 7 through threads, limiting pipes 11 are arranged on each first hinging seat 10 and each second hinging seat 37, each first threaded rod 8 is rotatably arranged in the corresponding limiting pipe 11 on the corresponding first hinging seat 10, and the rotary sleeve 16 is connected with the first threaded rod 8 in a transmission manner.
When the length of the first telescopic arm 6 needs to be adjusted, the rotary sleeve 16 rotates to drive the first threaded rod 8 to rotate, and the first threaded rod 8 is in threaded connection with the first threaded pipe 7, so that when the first threaded rod 8 rotates, the first threaded rod 8 moves along the axis of the first threaded pipe 7.
In order to reveal the detailed structure of the second telescopic arm 38, the following features are provided in particular:
each second telescopic arm 38 comprises a second threaded rod 39 arranged in the limiting tube 11 on the second hinging seat 37 in a rotating mode, a second threaded tube 41 connected with each second threaded rod 39 in a threaded mode, the bottom of each second threaded tube 41 is hinged to the mounting shaft 44, and the rotary sleeve 16 is connected with the second threaded rod 39 in a transmission mode.
When the length of the second telescopic arm 38 needs to be adjusted, the rotating sleeve 16 rotates to drive the second threaded rod 39 to rotate, and the second threaded rod 39 is in threaded connection with the second threaded tube 41, so that when the second threaded rod 39 rotates, the second threaded rod 39 moves along the axis of the second threaded tube 41.
In order to reveal the connection of the rotary sleeve 16 to the first threaded rod 8 and to the second threaded rod 39, the following features are provided in particular:
each rotating sleeve 16 is slidably provided with a rotating inner shaft 18, the end part of the rotating inner shaft 18 is fixedly provided with a transmission bevel gear 21, a plurality of limiting grooves 17 are annularly formed in the inner wall of the rotating sleeve 16, a plurality of limiting bars 19 are annularly arranged on the side wall of the rotating inner shaft 18, each limiting groove 17 corresponds to each limiting bar 19 one by one, one of the first threaded rod 8 end parts on each first telescopic arm 6 is provided with a first connection bevel gear 9, one of the second threaded rod 39 end parts on each second telescopic arm 38 is provided with a second connection bevel gear 40, each first connection bevel gear 9 and each second connection bevel gear 40 are meshed with the transmission bevel gear 21, and the power output end of the disconnecting mechanism 48 is connected with the transmission bevel gear 21.
When the length of the first telescopic arm 6 and the length of the second telescopic arm 38 are adjusted, the rotary sleeve 16 are driven to rotate by the transmission mechanism 24, the rotary inner shaft 18 is driven to rotate together by the rotary sleeve 16 under the cooperation of the limiting strips 19 and the limiting grooves 17, the rotary inner shaft 18 rotates to drive the transmission bevel gear 21 to rotate, the transmission bevel gear 21 rotates to enable the first connection bevel gear 9 and the second connection bevel gear 40 to rotate simultaneously, the first threaded rod 8 and the second threaded rod 39 to rotate simultaneously, synchronous extension or shortening of the first telescopic arm 6 and the second telescopic arm 38 is ensured, when the device performs feeding and discharging work, the breaking mechanism 48 is started to drive the transmission bevel gear 21 to move, the transmission bevel gear 21 is enabled not to mesh with the first connection bevel gear 9 and the second connection bevel gear 40 any more, and the first threaded rod 8 and the second threaded rod 39 are enabled not to rotate when the device performs feeding and discharging work, and the device can stably run.
In order to ensure that the two first threaded rods 8 on each first telescopic arm 6 and the two second threaded rods 39 on each second telescopic arm 38 can rotate simultaneously when the device is in operation, the following features are provided:
the end of each limiting pipe 11 is provided with a rotating wheel 12 in a rotating mode, each first threaded rod 8 and each second threaded rod 39 are fixedly connected with the rotating wheel 12 in a coaxial mode, and the rotating wheels 12 of each two first threaded rods 8 and the rotating wheels 12 of each two second threaded rods 39 are connected through a belt 13.
When the device is operated, through the transmission connection mode of the two rotating wheels 12 and the belt 13, the two first threaded rods 8 and the two second threaded rods 39 can synchronously rotate, so that the first telescopic arms 6 and the second telescopic arms 38 can synchronously perform length adjustment, and the parallelogram mechanism in the device can normally move.
In order to reveal the detailed structure of the breaking mechanism 48, the following features are specifically provided:
each breaking mechanism 48 comprises a mounting frame 49 fixedly arranged on the connecting seat 14, a push rod 50 fixedly arranged on the mounting frame 49, and a wheel frame 51 fixedly arranged on the output end of the push rod 50, each transmission bevel gear 21 is rotationally connected with the corresponding wheel frame 51, a reset tension spring 20 is arranged at the bottom of each rotating inner shaft 18, one end of the reset tension spring 20 is connected with the rotating inner shaft 18, and the other end of the reset tension spring 20 is connected with the rotating sleeve 16.
When the transmission bevel gear 21 is required to be meshed with the first connection bevel gear 9 and the second connection bevel gear 40, the push rod 50 drives the wheel frame 51 to move, the wheel frame 51 moves to enable the transmission bevel gear 21 to extend along the axis of the rotary sleeve 16, the rotary inner shaft 18 is driven to extend together, the reset tension spring 20 is stressed to stretch, when the length of the first telescopic arm 6 and the length of the second telescopic arm 38 are required to be adjusted, the push rod 50 resets, the transmission bevel gear 21 is driven to be meshed with the first connection bevel gear 9 and the second connection bevel gear 40 again, the reset tension spring 20 resets, and the tension generated by the reset tension spring 20 can enable the transmission bevel gear 21 to be meshed with the first connection bevel gear 9 and the second connection bevel gear 40 further, so that the gear meshing is prevented from being out of place.
In order to reveal the detailed structure of the transmission 24, the following features are provided in particular:
the transmission mechanism 24 comprises positioning small plates 25 which are symmetrically arranged at two ends of the expansion plate 23, a connecting shaft 26 which is rotatably arranged on each positioning small plate 25, driving bevel gears 27 and driven gears 28 which are coaxially and fixedly connected to the connecting shaft 26, a supporting transverse plate 29 which is fixedly arranged on the expansion plate 23, a sliding groove 30 which is arranged on the supporting transverse plate 29, a movable seat 31 which is slidably arranged in the sliding groove 30, a power motor 33 which is fixedly arranged on the movable seat 31, a driving wheel 34 which is coaxially and fixedly connected to the output shaft of the power motor 33, two abutting wheels 36 which are symmetrically arranged on the expansion plate 23 in a rotating way and driving bevel gears 22 which are coaxially and fixedly connected to each rotating sleeve 16, wherein an avoidance groove 15 is formed in the middle of each connecting seat 14, each driving bevel gear 22 is meshed with the corresponding driving bevel gear 27, a reset spring 32 is arranged on the movable seat 31, one end of the reset spring 32 is connected with the inner wall of the sliding groove 30, the other end of the reset spring is connected with the movable seat 31, and the driving wheel 34, the driven gears 28 and the two abutting wheels 36 are connected through a transmission belt 35.
When the lengths of the first telescopic arm 6 and the second telescopic arm 38 need to be adjusted, the power motor 33 drives the driving wheel 34 to rotate, the driving wheel 34 rotates to drive the two driven wheels 28 to rotate through the transmission of the transmission belt 35, the driven wheels 28 rotate to enable the driving umbrella teeth 27 to rotate together, the driving umbrella teeth 27 rotate to drive the driving umbrella teeth 22 to rotate, the driving umbrella teeth 22 rotate to drive the rotating sleeve 16 to rotate, the rotating sleeve 16 rotates to drive the rotating inner shaft 18 to rotate, the rotating inner shaft 18 rotates to drive the transmission umbrella teeth 21 to rotate, the transmission umbrella teeth 21 rotate to enable the first connecting umbrella teeth 9 meshed with the transmission umbrella teeth simultaneously rotate with the second connecting umbrella teeth 40, and then all the first threaded rods 8 and the second threaded rods 39 rotate together under the transmission of the rotating wheel 12 and the belt 13, so that the first telescopic arm 6 and the second telescopic arm 38 stretch or shorten synchronously. And after the device has adjusted the length of first flexible arm 6 and second flexible arm 38, the device goes up and down the unloading normally, and expansion plate 23 carries out self-adaptation shrink along with the device operation at this moment, and under reset spring 32's effect, movable seat 31 also carries out self-adaptation slip along sliding groove 30, ensures that drive belt 35 can tighten always.
Working principle: when the device is operated, the driving motor 2 starts to drive the connecting rod 4 to rotate, the connecting rod 4 rotates to drive the swinging seat 5 to rotate, the swinging seat 5 rotates to enable the first telescopic arm 6 to swing, the first telescopic arm 6 swings to drive the second telescopic arm 38 to move, the second telescopic arm 38 moves to drive the mounting shaft 44 to move on a plane, in the process, the telescopic plate 23 performs self-adaptive shrinkage, under the action of the reset spring 32, the movable seat 31 also performs self-adaptive sliding along the sliding groove 30, the transmission belt 35 is ensured to be tightly stretched, the device stably operates, the rigidity of the integral structure is further enhanced by the arrangement of the telescopic plate 23, then the speed reducing motor 43 moves to enable the U-shaped frame 45 to rotate, the U-shaped frame 45 rotates to drive the connecting slat 46 to rotate, the connecting slat 46 moves to enable the two pneumatic clamping jaws 47 to swing, and then the two first telescopic arms 6, the two second telescopic arms 38 and the pneumatic clamping jaws 47 driven by the speed reducing motor 43 perform feeding and discharging.
When the length of the first telescopic arm 6 and the second telescopic arm 38 need to be adjusted, the power motor 33 drives the driving wheel 34 to rotate, the driving wheel 34 rotates to drive the two driven wheels 28 to rotate through the transmission of the transmission belt 35, the driven wheels 28 rotate to enable the driving bevel gear 27 to rotate together, the driving bevel gear 27 rotates to drive the driving bevel gear 22 to rotate, the driving bevel gear 22 rotates to drive the rotating sleeve 16 to rotate, the rotating sleeve 16 rotates to drive the rotating inner shaft 18 to rotate, the rotating inner shaft 18 rotates to drive the driving bevel gear 21 to rotate, the driving bevel gear 21 rotates to enable the first connecting bevel gear 9 meshed with the driving bevel gear 21 and the second connecting bevel gear 40 to rotate simultaneously, then all the first threaded rods 8 and the second threaded rods 39 rotate together under the transmission of the rotating wheel 12 and the belt 13, the first telescopic arm 6 and the second telescopic arm 38 are enabled to stretch or shorten synchronously, after the adjustment is completed, the push rod 50 drives the wheel frame 51 to move, the driving bevel gear 21 stretches out along the axis of the rotating sleeve 16, the rotating inner shaft 18 is driven to stretch by tension springs, the reset 20 is stressed to stretch, the driving bevel gear 21 and the first connecting bevel gear 9 and the second connecting bevel gear 40 are not meshed with the first threaded rods 8, and the first threaded rods and the second threaded rods are enabled to run stably, and the mechanical arm can not run normally.
The foregoing examples merely illustrate one or more embodiments of the invention, which are described in greater detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (8)
1. The utility model provides an adjustable unloading manipulator, a serial communication port, including frame (1), fixed setting is in positioning seat (3) of frame (1) side, be symmetry state fixed two driving motor (2) that set up in frame (1) one side, rotate and set up connecting rod (4) between positioning seat (3) and frame (1) and with coaxial fixed connection of every driving motor (2) output shaft, swing seat (5) of fixing setting on every connecting rod (4), set up first telescopic boom (6) on every swing seat (5), with articulated connecting seat (14) of every first telescopic boom (6), rotate rotary sleeve (16) of setting on every connecting seat (14), with articulated second telescopic boom (38) of every connecting seat (14), set up telescopic link (23) between two connecting seats (14), drive mechanism (24) of setting on telescopic link (23), set up disconnected mechanism (48) on every connecting seat (14), set up on one of them second telescopic link (38) motor installation setting up on one of them second telescopic link (42), install on every fixed telescopic link (42) of every telescopic link (42), install the bottom (42) on every telescopic link (42) The device comprises a U-shaped frame (45) fixedly connected to the output end of a gear motor (43) and rotationally connected with an installation shaft (44), a connecting slat (46) fixedly arranged on the U-shaped frame (45) and pneumatic clamping jaws (47) fixedly arranged at two ends of the connecting slat (46), wherein a transmission mechanism (24) is used for enabling two rotary sleeves (16) to rotate, two first telescopic arms (6) and two second telescopic arms (38) form a parallelogram structure, each rotary sleeve (16) is respectively connected with the corresponding first telescopic arm (6) and second telescopic arm (38) in a transmission mode and enables the corresponding first telescopic arm (6) and second telescopic arm (38) to synchronously stretch out and draw back, and a touch breaking mechanism (48) is used for enabling the corresponding first telescopic arm (6) and second telescopic arm (38) to be disconnected with the rotary sleeve (16).
2. An adjustable feeding and discharging manipulator according to claim 1, characterized in that the two ends of each connecting seat (14) are respectively hinged with a first hinging seat (10) and a second hinging seat (37), the first hinging seat (10) is connected with the first telescopic arm (6), and the second hinging seat (37) is connected with the second telescopic arm (38).
3. The adjustable feeding and discharging manipulator according to claim 2, wherein each first telescopic arm (6) comprises two first threaded pipes (7) which are symmetrically fixedly arranged on a corresponding swinging seat (5) and first threaded rods (8) which are rotatably arranged in each first threaded pipe (7), each first threaded rod (8) is connected with the corresponding first threaded pipe (7) through threads, limiting pipes (11) are arranged on each first hinging seat (10) and each second hinging seat (37), each first threaded rod (8) is rotatably arranged in the corresponding limiting pipe (11) on the corresponding first hinging seat (10), and the rotary sleeve (16) is in transmission connection with the first threaded rods (8).
4. An adjustable feeding and discharging manipulator according to claim 3, wherein each second telescopic arm (38) comprises a second threaded rod (39) rotatably arranged in the limiting tube (11) on the second hinging seat (37), a second threaded tube (41) in threaded connection with each second threaded rod (39), the bottom of each second threaded tube (41) is hinged with the mounting shaft (44), and the rotary sleeve (16) is in transmission connection with the second threaded rod (39).
5. The adjustable feeding and discharging manipulator according to claim 4, wherein each rotating sleeve (16) is internally provided with a rotating inner shaft (18), the end part of each rotating inner shaft (18) is fixedly provided with a transmission bevel gear (21), a plurality of limit grooves (17) are annularly formed in the inner wall of each rotating sleeve (16), a plurality of limit strips (19) are annularly formed in the side wall of each rotating inner shaft (18), each limit groove (17) corresponds to each limit strip (19) one by one, one of the first threaded rod (8) end parts on each first telescopic arm (6) is provided with a first connecting bevel gear (9), one of the second threaded rod (39) end parts on each second telescopic arm (38) is provided with a second connecting bevel gear (40), each first connecting bevel gear (9) and each second connecting bevel gear (40) are all meshed with the transmission bevel gear (21), and the power output end of the touch breaking mechanism (48) is connected with the transmission bevel gear (21).
6. The adjustable feeding and discharging manipulator according to claim 5, wherein the end part of each limiting tube (11) is rotatably provided with a rotating wheel (12), each first threaded rod (8) and each second threaded rod (39) are coaxially and fixedly connected with the rotating wheel (12), and the rotating wheels (12) of each two first threaded rods (8) and the rotating wheels (12) of each two second threaded rods (39) are connected through a belt (13).
7. The adjustable feeding and discharging manipulator according to claim 6, wherein each breaking mechanism (48) comprises a mounting frame (49) fixedly arranged on the connecting seat (14), a push rod (50) fixedly arranged on the mounting frame (49), a wheel frame (51) fixedly arranged on the output end of the push rod (50), each transmission bevel gear (21) is rotationally connected with the corresponding wheel frame (51), a reset tension spring (20) is arranged at the bottom of each rotating inner shaft (18), one end of the reset tension spring (20) is connected with the rotating inner shaft (18), and the other end of the reset tension spring is connected with the rotating sleeve (16).
8. The adjustable feeding and discharging manipulator according to claim 7, wherein the transmission mechanism (24) comprises positioning small plates (25) which are symmetrically fixedly arranged at two ends of the telescopic plate (23), a connecting shaft (26) which is rotatably arranged on each positioning small plate (25), driving umbrella teeth (27) and driven wheels (28) which are coaxially and fixedly connected to the connecting shaft (26), a supporting transverse plate (29) which is fixedly arranged on the telescopic plate (23), a sliding groove (30) which is formed on the supporting transverse plate (29), a movable seat (31) which is arranged in the sliding groove (30) in a sliding manner, a power motor (33) which is fixedly arranged on the movable seat (31), a driving wheel (34) which is coaxially and fixedly connected to an output shaft of the power motor (33), two abutting wheels (36) which are symmetrically rotatably arranged on the telescopic plate (23) and driving umbrella teeth (22) which are coaxially and fixedly connected to each rotating sleeve (16), an avoidance groove (15) is formed in the middle of each connecting seat (14), the driving umbrella teeth (22) are correspondingly meshed with the driving umbrella teeth (27) and the other end of the movable seat (31), and the reset spring (32) which is connected to the other end of the movable seat (32) and the movable seat (31) which is meshed with the reset spring (32 The driven wheel (28) and the two abutting wheels (36) are connected through a transmission belt (35).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311637116.1A CN117302960B (en) | 2023-12-01 | 2023-12-01 | Adjustable feeding and discharging mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311637116.1A CN117302960B (en) | 2023-12-01 | 2023-12-01 | Adjustable feeding and discharging mechanical arm |
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| Publication Number | Publication Date |
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| CN117302960A true CN117302960A (en) | 2023-12-29 |
| CN117302960B CN117302960B (en) | 2024-02-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202311637116.1A Active CN117302960B (en) | 2023-12-01 | 2023-12-01 | Adjustable feeding and discharging mechanical arm |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203045725U (en) * | 2012-08-23 | 2013-07-10 | 杭州永创智能设备股份有限公司 | Mechanical arm |
| CN207175346U (en) * | 2017-07-11 | 2018-04-03 | 上海九谷智能科技有限公司 | A kind of adjustable speed lifting platform |
| CN110340876A (en) * | 2019-08-13 | 2019-10-18 | 唐山市德丰机械设备有限公司 | A kind of coal gangues automation selection parallel flexible Three Degree Of Freedom robot |
| CN215092529U (en) * | 2021-06-04 | 2021-12-10 | 河南科源水利建设工程检测有限公司 | Double-end-face stone grinding machine |
-
2023
- 2023-12-01 CN CN202311637116.1A patent/CN117302960B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203045725U (en) * | 2012-08-23 | 2013-07-10 | 杭州永创智能设备股份有限公司 | Mechanical arm |
| CN207175346U (en) * | 2017-07-11 | 2018-04-03 | 上海九谷智能科技有限公司 | A kind of adjustable speed lifting platform |
| CN110340876A (en) * | 2019-08-13 | 2019-10-18 | 唐山市德丰机械设备有限公司 | A kind of coal gangues automation selection parallel flexible Three Degree Of Freedom robot |
| CN215092529U (en) * | 2021-06-04 | 2021-12-10 | 河南科源水利建设工程检测有限公司 | Double-end-face stone grinding machine |
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| Publication number | Publication date |
|---|---|
| CN117302960B (en) | 2024-02-20 |
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