Feeding and discharging connecting rod manipulator with tail end turnover function

Abstract

The invention relates to the technical field of manipulators and discloses a feeding and discharging connecting rod manipulator with a tail end turnover function. The feeding and discharging connecting rod manipulator with the tail end turnover function comprises a base rotating mechanism, a mechanical arm, a transmission mechanism, a wrist turnover mechanism and pneumatic fingers, wherein the mechanical arm is composed of a large arm and a small arm; the base rotating mechanism comprises a base, a base rotating disc, a reducer, a base rotation driving motor, a left mounting vertical plate anda right mounting vertical plate; the transmission mechanism is composed of a large arm driving motor, a small arm driving motor, a reducer, a transmission crankshaft, a small arm drawbar, a rivet base, a fixing drawbar, a triangular connecting plate and a wrist drawbar, and the large arm driving motor and the small arm driving motor are mounted on the left mounting vertical plate and the right mounting vertical plate respectively; the wrist turnover mechanism is composed of a flange base and a swing cylinder; the pneumatic fingers are composed of pneumatic finger bodies and a pneumatic fingermounting support. According to the feeding and discharging connecting rod mechanical arm with the tail end turnover function, all the driving motors are mounted on a base, so that arm structures canbe simplified and arm weight can be reduced; during motion of the feeding and discharging connecting rod mechanical arm with the tail end turnover function, the flange base the tail end of the manipulator can stay unchanged in posture relative to the base, so that the difficulty in controlling a tail end executor can be reduced.

Description

technical field [0001] The invention relates to the technical field of manipulators, in particular to a loading and unloading connecting rod manipulator with the function of tip overturning. Background technique [0002] At present, the tandem manipulators used in industrial production in China are all joint-type industrial robots. The driving device of this industrial manipulator, including the drive motor, reducer and other related parts, is directly installed on each rotating joint of the manipulator. Joints are directly driven. This structure and installation method make this type of manipulator bulky and heavy, especially the quality of the arm part is very large. Its heavy arm and large volume will cause the manipulator to generate a large inertial force during the fast work process, which is not conducive to the control of the manipulator; after a long time of work, the manipulator will deform greatly and the precision of the end of the manipulator will be greatly re...

AI Technical Summary

Problems solved by technology

Its heavy arm and large volume will cause the manipulator to generate a lot of inertial force during the fast work process, which is not conducive to the control of the manipulator; after a long time of work, the manipulator will deform greatly and the accuracy of the

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