CN102219112A - Automatically controlled mechanical arm - Google Patents
Automatically controlled mechanical arm Download PDFInfo
- Publication number
- CN102219112A CN102219112A CN 201110114413 CN201110114413A CN102219112A CN 102219112 A CN102219112 A CN 102219112A CN 201110114413 CN201110114413 CN 201110114413 CN 201110114413 A CN201110114413 A CN 201110114413A CN 102219112 A CN102219112 A CN 102219112A
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- lever
- cam
- fixed support
- level
- fulcrum
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Abstract
The invention discloses an automatically controlled mechanical arm which comprises a fixing support, a level and a connecting rod transmission mechanism, wherein the level is arranged on the fixed support, a contact point of the level and the fixed support is a fulcrum of the level, two ends of the level are respectively provided with an inserted pin and an inserted pin seat, each inserted pin passes through the level and then is inserted into the inserted pin seat which corresponds to the inserted pin, cam mechanisms are arranged below the front and the rear of the fulcrum of the level respectively, each cam mechanism comprises a cam shaft and a support frame, at least one pair of limit cams which are opposite to each other and a reversing cam which can rotate along with the limit cams to control the level to be uplifted and fallen down around the fulcrum are sheathed on each cam shaft, and the two cam shafts are connected by the connecting rod transmission mechanism and do reversed movement. The automatically controlled mechanical arm can realize unpowered automatic stopping, automatic starting and automatic pushing and pulling reversing, can realize bidirectional collision stopping and automatic operation after the bidirectional collision stopping between two mechanical arms, and is wide in application range.
Description
Technical field
The present invention relates to a kind of automatic control device, is that a kind of lever principle of utilizing realizes the automatically controlled manipulator specifically.
Background technology
The production of wallboard mainly realizes by mould vehicle; Owing to be subjected to the restriction in place, mould vehicle need be come transition from a workshop section by ferry bus to another workshop section, but ferry bus on the mould vehicle, ferry bus all will pass through workman's manual operations down, and this just need be each arrangement workman that gets on the bus a little and get off, thus a large amount of workman of needs.Mould vehicle can not have only a mould vehicle in the process of moving in work, when many mould vehicle are worked simultaneously, will certainly produce collision, and this will cause damage, thereby increases productive costs.
Summary of the invention
Goal of the invention: the objective of the invention is in order to overcome weak point of the prior art, a kind of automatic guidance rational in infrastructure, easy to use, applied widely machinery hand is provided.
Technical scheme: for realizing above-mentioned technical matters, the technical solution used in the present invention is: a kind of automatic guidance machinery hand, comprise fixed support, lever and jointed gear unit, lever is installed on the fixed support, lever and support bracket fastened contact point are the fulcrum of lever, be respectively equipped with latch and plug housing at two of lever, each latch pass insert behind the lever with the corresponding plug housing in its position in; Be respectively equipped with the control lever in the front lower place of balance pivot and the back lower place and lift the cam mechanism that falls around fulcrum, each cam mechanism comprises the bracing frame of camshaft and stationary cam axle, on camshaft, be with at least one pair of in opposite directions limit cam and along with the rotation of limit cam is controlled lever and is lifted the commutation cam that falls, two camshafts connect by jointed gear unit and do reverse motions.
Principle of work of the present invention: mould vehicle in the process of walking, the thing of placing obstacles on the road surface in advance, after obstacle is run into limit cam, the limit cam rotation, thereby the camshaft rotating band is moved to the cam rotation, made that lift the front portion of lever, the rear portion falls, lift thereby drive the front latch, the back latch drops in the chain, realizes push-and-pull power commutation function.
In order to prevent to bump in the process of walking, described manipulator also comprises gear mechanism and the touching lever that is provided with along the lever length direction, on described fixed support, be provided with the otic placode that two described touching levers of confession pass, be with spring between two otic placodes and on described touching lever; Described gear mechanism comprises that Large Gear Shaft During, pinion shaft and two branches are located at the gear cluster of described fixed support both sides, each gear cluster comprises intermeshing big gear wheel and miniature gears, two described big gear wheels link to each other by Large Gear Shaft During, be with the cam that latch all can be broken away from the chain of walking on the Large Gear Shaft During and under balance pivot, described miniature gears is connected with fixed support by pinion shaft, is connected with lock pin on described pinion shaft; Described touching lever is connected with Large Gear Shaft During.
The transmitting ratio of described big gear wheel and miniature gears is not less than 1: 5.
More convenient to operate in order to make, each the commutation cam all be located at lever under.
In order when beginning, one of them latch to be dropped in the chain, be connected with handle on a described camshaft therein.
Described fulcrum is positioned at the midpoint of lever.
Beneficial effect: compared with prior art, advantage of the present invention is: can realize unpoweredly stopping automatically, unpowered automatic startup, unpowered automatic push-and-pull commutation; Can also realize that bidirectional collision between two manipulators stops and two manipulators between two-way unloading bump back operation automatically; This manipulator is applied widely, can be installed on the wallboard mould chassis, also can be installed on the chassis of heavy-duty machinery; Can also adapt to various working environments, as: high humidity, in the environment such as high-temperature and steam.
Description of drawings
Fig. 1 is a structural representation of the present invention;
The specific embodiment
Below in conjunction with drawings and Examples the present invention is done further explanation.
As shown in Figure 1, a kind of automatic guidance machinery hand, comprise fixed support 1, lever 2, on fixed support 1, have draw-in groove, both sides in the midpoint of lever 2 are welded with an anchor shaft respectively, anchor shaft is stuck in the draw-in groove of fixed support 1, and this moment, the attachment point of this anchor shaft and fixed support 1 was the fulcrum of lever 2; Place, two ends at lever 2 is provided with latch 4 and plug housing 5 respectively, each latch 4 pass lever 2 be inserted in its corresponding plug housing 5 in, in the mould vehicle driving process, only need with one of them latch 4 fall in the walking chain, another latch 4 throws off with the walking chain; Between fulcrum and each lever 2 ends and below lever 2, be respectively equipped with a cam mechanism, each cam mechanism comprises the bracing frame 7 of camshaft 6 and stationary cam axle 6, the two ends of camshaft 6 are installed on the bracing frame 7, on camshaft 6, be with commutation cam 9 and a pair of in opposite directions limit cam 8, commutation cam 9 is controlled lever 2 and is lifted and fall along with the rotation of limit cam 8, and two camshafts 6 connect by jointed gear unit 3 and do reverse motions; Each the commutation cam 9 all be located at lever 2 under.Be connected with handle 13 on a camshaft 6 therein.
Both sides at fixed support 1 are provided with gear cluster, each gear cluster comprises intermeshing big gear wheel 11 and miniature gears 12, two big gear wheels 11 are connected the two ends of Large Gear Shaft During, and Large Gear Shaft During is installed on the fixed support 1, and each miniature gears 12 all passes through a pinion shaft and is connected with fixed support 1.Be with the cam that latch 4 all can be broken away from the walking chain on the Large Gear Shaft During and under lever 2 fulcrums.Be connected with lock pin on pinion shaft, the anchor shaft that withstands lever 2 when this lock pin makes this anchor shaft can not be mobile the time, and lever 2 is around support motion, that is to say that the latch 4 that can only make lever 2 two ends lifts respectively to fall; When this lock pin contracts backward to breaking away from anchor shaft fully, so just can make the latch 4 at lever 2 two ends need to break away from simultaneously the walking chain.
In this manipulator, be provided with touching lever 10 along lever 2 length directions, on two plug housings 5 and fixed support 1, be equipped with otic placode, touching lever 10 passes otic placode on one of them plug housing 5, two otic placodes on the fixed support 1, the otic placode on another plug housing 5 successively, on the touching lever 10 and between two otic placodes at fixed support 1 spring is being installed, touching lever 10 is connected with Large Gear Shaft During, when touching lever 10 is run into obstacle, touching lever 10 receives thrust forward, and big gear wheel 11 is rotated under the effect of thrust.
Among the present invention, the transmitting ratio of big gear wheel 11 and miniature gears 12 is not less than 1: 5.The length of touching lever 10 can be adjusted according to producing needs.
This manipulator mainly is used in wallboard production line, at first manipulator of the present invention is installed on the chassis of mould vehicle, and chain is installed in the middle of the rail then, and the transmission by chain drives mould vehicle and travels.
At the beginning, by handle 13 one of them latch 4 is fallen into the walking chain, another latch 4 breaks away from walking chains, and mould vehicle was then followed chain and moved together this moment.
When the stop motion of needs mould vehicle, we can be provided with suitable obstacle on rail ground, after obstacle is run into touching lever 10,10 of touching levers drive the Large Gear Shaft During rotation, begin to rotate 5 ° of angles, contract backward to throwing off anchor shaft fully by the lock pin on big gear wheel 11 transmissions, the drive miniature gears 12, after big cam axle 6 is rotated further, then lever 2 is lifted, the latch 4 at lever 2 two ends all breaks away from chain, and mould vehicle stops.
When mould vehicle two has been brought in other mould vehicle, after running into touching lever 10, touching lever 10 moves to a direction, drive big cam axle 6 then and rotate in the same way, begin to rotate 5 ° of angles, contract backward to throwing off anchor shaft fully by the lock pin on big gear wheel 11 transmissions, the drive miniature gears 12, after big cam axle 6 is rotated further, then lever 2 is lifted, the latch 4 at lever 2 two ends all breaks away from chain, and mould vehicle stops.Lift the latch 4 at two ends by lever 2, after latch 4 broke away from chain, mould vehicle also can stop.After the pressure of touching lever 10 was cancelled, the spring on the touching lever 10 made touching lever 10 reset to the intermediate equilibria position, and cam is got back to balance position like this, and 2 on lever falls back to initial point.Latch 4 is inserted in the chain automatically, and mould vehicle is walked automatically.
Mould vehicle in the process of walking, when mould vehicle need enter into next workshop section, the thing of also can placing obstacles on the road surface, run into limit cam 8 when obstacle, make limit cam 8 turn over an angle, camshaft 6 rotating bands are moved to cam 9 rotations, make a side of lever 2 under the drive of commutation cam 9, lift, thereby the corresponding latch 4 of a side that lever 2 lifts is broken away from the walking chain, and another latch 4 drops in the chain, realizes push-and-pull power commutation function.
The above only is a preferred implementation of the present invention; be noted that for those skilled in the art; under the prerequisite that does not break away from the principle of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (6)
1. automatic guidance machinery hand, it is characterized in that, comprise fixed support (1), lever (2) and jointed gear unit (3), lever (2) is installed on the fixed support (1), lever (2) is the fulcrum of lever (2) with the contact point of fixed support (1), be respectively equipped with latch (4) and plug housing (5) at two of lever (2), each latch (4) passes in insertion of lever (2) back and the corresponding plug housing in its position (5); The front lower place and the back lower place at lever (2) fulcrum are respectively equipped with cam mechanism, each cam mechanism comprises the bracing frame (7) of camshaft (6) and stationary cam axle (6), on camshaft (6), be with at least one pair of in opposite directions limit cam (8) and along with the rotation of limit cam (8) is controlled lever (2) and is lifted the commutation cam (9) that falls around fulcrum, two camshafts (6) connect by jointed gear unit (3) and do reverse motions.
2. a kind of automatic guidance machinery hand according to claim 1, it is characterized in that, described manipulator also comprises gear mechanism and the touching lever (10) that is provided with along lever (2) length direction, on described fixed support (1), be provided with the otic placode that two described touching levers of confession (10) pass, be with spring between two otic placodes and on described touching lever (10); Described gear mechanism comprises that Large Gear Shaft During, pinion shaft and two branches are located at the gear cluster of described fixed support (1) both sides, each gear cluster comprises intermeshing big gear wheel (11) and miniature gears (12), two described big gear wheels (11) link to each other by Large Gear Shaft During, be with the cam that latch (4) all can be broken away from the walking chain on the Large Gear Shaft During and under lever (2) fulcrum, described miniature gears (12) is connected with fixed support (1) by pinion shaft, is connected with lock pin on described pinion shaft; Described touching lever (10) is connected with Large Gear Shaft During.
3. a kind of automatic guidance machinery hand according to claim 2 is characterized in that the transmitting ratio of described big gear wheel (11) and miniature gears (12) is not less than 1: 5.
4. a kind of automatic guidance machinery hand according to claim 1 is characterized in that, each described commutation cam (9) all be located at lever (2) under.
5. a kind of automatic guidance machinery hand according to claim 1 is characterized in that, is connected with handle (13) on the described camshaft (6) therein.
6. a kind of automatic guidance machinery hand according to claim 1 is characterized in that described fulcrum is positioned at the midpoint of lever (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110114413A CN102219112B (en) | 2011-05-04 | 2011-05-04 | Automatically controlled mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110114413A CN102219112B (en) | 2011-05-04 | 2011-05-04 | Automatically controlled mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102219112A true CN102219112A (en) | 2011-10-19 |
| CN102219112B CN102219112B (en) | 2012-09-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110114413A Active CN102219112B (en) | 2011-05-04 | 2011-05-04 | Automatically controlled mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102219112B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2678856Y (en) * | 2004-02-27 | 2005-02-16 | 吴福堂 | Maker for producing decorative plaster sheet |
| CN2765753Y (en) * | 2005-01-06 | 2006-03-22 | 肖国强 | Assembly line apparatus for gypsum hollow wall plate |
| DE102005018087A1 (en) * | 2005-04-19 | 2006-10-26 | Schindler Steinbearbeitungsmaschinen-Anlagentechnik Gmbh | Die mold pallet for transportation of die molds for manufacture of molded concrete slabs or pieces has cam device to clasp notches on bearer pallet and place mold precisely on pallet |
| CN201579869U (en) * | 2009-12-11 | 2010-09-15 | 江苏天元工程机械有限公司 | Concrete building block precuring and conveying device |
| CN202073999U (en) * | 2011-05-04 | 2011-12-14 | 江苏汤辰机械装备制造有限公司 | Automatic control manipulator |
-
2011
- 2011-05-04 CN CN201110114413A patent/CN102219112B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2678856Y (en) * | 2004-02-27 | 2005-02-16 | 吴福堂 | Maker for producing decorative plaster sheet |
| CN2765753Y (en) * | 2005-01-06 | 2006-03-22 | 肖国强 | Assembly line apparatus for gypsum hollow wall plate |
| DE102005018087A1 (en) * | 2005-04-19 | 2006-10-26 | Schindler Steinbearbeitungsmaschinen-Anlagentechnik Gmbh | Die mold pallet for transportation of die molds for manufacture of molded concrete slabs or pieces has cam device to clasp notches on bearer pallet and place mold precisely on pallet |
| CN201579869U (en) * | 2009-12-11 | 2010-09-15 | 江苏天元工程机械有限公司 | Concrete building block precuring and conveying device |
| CN202073999U (en) * | 2011-05-04 | 2011-12-14 | 江苏汤辰机械装备制造有限公司 | Automatic control manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102219112B (en) | 2012-09-26 |
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Address after: 212413, Zhenjiang, Jiangsu, Jurong province Shu town along the Yangtze River Development Zone, Jiangsu Chen Chen Machinery Equipment Manufacturing Co., Ltd. Patentee after: Jiangsu Chen Chen machinery equipment manufacturing Limited by Share Ltd Address before: 212413, Zhenjiang, Jiangsu, Jurong province Shu town along the Yangtze River Development Zone, Jiangsu Chen Chen Machinery Equipment Manufacturing Co., Ltd. Patentee before: Jiangsu Tangchen Machinery Equipment Manufacturing Co., Ltd. |