CN102626918A - Longitudinal angle rotation mechanism for mechanical arm - Google Patents
Longitudinal angle rotation mechanism for mechanical arm Download PDFInfo
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- CN102626918A CN102626918A CN2012100989310A CN201210098931A CN102626918A CN 102626918 A CN102626918 A CN 102626918A CN 2012100989310 A CN2012100989310 A CN 2012100989310A CN 201210098931 A CN201210098931 A CN 201210098931A CN 102626918 A CN102626918 A CN 102626918A
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Abstract
The invention relates to a longitudinal angle rotation mechanism for a mechanical arm, belonging to the technical field of mechanical arms. The mechanical arm comprises a sucking disc and a sliding rod seat. The longitudinal angle rotation mechanism comprises a first cylinder seat forming a cylinder cavity, a piston, a gear shaft and a revolving seat, wherein the upper end at one side of the cylinder seat is provided with a first adaption hole, while the lower end is provided with a second adaption hole, and a gear shaft hole is formed in the cylinder seat; the piston is arranged in the cylinder cavity, and a rack is formed on the wall body at one side of the piston; the first adaption hole corresponds to one end part of the piston, and the second adaption hole corresponds to the other end part of the piston; the gear shaft is arranged in the gear shaft hole, and a gear is formed on the gear shaft; the revolving seat is fixed with the sucking disc, and a first connecting seat and a second connecting seat are fixed at one side of the revolving seat; one end of the gear shaft is supported on the first connecting seat, while the other end is supported on the second connecting seat; and a first limit bolt and a second limit bolt are arranged on the cylinder seat. The longitudinal angle rotation mechanism has the advantages of simple structure, convenience in manufacturing and quick assembly; the sucking disc is driven to rotate by the gear shaft through the revolving seat; and the rotation angle of the sucking disc can be controlled.
Description
Technical field
The invention belongs to the manipulator technical field, be specifically related to a kind of vertical angle rotating mechanism of manipulator
Background technology
The notion of
manipulator is that people are known; Has the function that apish paw of ability and arm are accomplished some action; Be the automatic pilot that grasps, carries object or operation tool in order to by fixed routine, it can replace people's mechanization and the automation of heavy work to realize producing.Particularly: use the protection personal safety owing under harmful operating environment, working, thereby be widely used in fields such as machine-building, metallurgy, electronics, light industry and even atomic energy.
manipulator mainly is made up of hand (the industry custom is claimed paw) and motion.Hand is in order to grasp the parts of workpiece (or instrument), according to the shape that is grasped object, size, weight, material and action request various versions to be arranged, like clamp-type, holding type and absorbent-type or the like.
such as industry knowledge; Manipulator has the attribute of frock clamp; Because frock clamp be used for the manufacturing of certain product and/or subsequent handling process to workpiece position, gripping, transfer and release and use the special equipment that reaches certain technological requirement, and need in workpiece process, satisfy no interference usually, requirement such as easy to operate and simple in structure.Therefore and since manipulator have to certain applied environment and specific products use exclusive, thereby make the generalization degree extremely low, often the production firm by product (workpiece) makes with the mode that designs voluntarily.With the manipulator that is applied to the injection moulding industry is example, not only require its reliably gripping or draw injection mo(u)lding after product, but also require it when the gripping product, to avoid the mould of injection machine is exerted an influence, for example touch mould.Equally, when it takes out mould with product, should not touch mould yet, and require product is transferred to the desired position after shifting out mould.It is thus clear that, product is clamped or is held and is transferred to the desired position if will ensure manipulator, rational rotating mechanism support then must be arranged.Yet in disclosed Chinese patent document, be not seen in the teachings of vertical angle rotating mechanism of the manipulator that structure is terse, the anglec of rotation is controlled and adjustable as yet.For this reason, the applicant has done useful design, and the technical scheme that will introduce below produces under this background
Summary of the invention
task of the present invention is to provide that a kind of to help to embody structure terse and use and conveniently make with assembling and help realizing that the anglec of rotation regulates vertical angle rotating mechanism of using the manipulator that ensures instructions for use with control.
task of the present invention is accomplished like this; A kind of vertical angle rotating mechanism of manipulator; Described manipulator comprises a sucker and a slider block, and described vertical angle rotating mechanism comprises a cylinder seat that constitutes a cylinder chamber, and this cylinder seat is positioned between described sucker and the slider block; And be fixedly connected with slider block; Upper end in a side of the short transverse of cylinder seat offers one first matching hole, and the lower end offers one second matching hole, and first, second matching hole all communicates with described cylinder chamber; And on the cylinder seat, also offer a side from the cylinder seat and connect to the gear axis hole of opposite side, this gear axis hole is corresponding to the middle position of the short transverse in cylinder chamber and not only communicate with the cylinder chamber but also form criss-cross cross reference with the cylinder chamber; One piston, this piston are arranged in the described cylinder chamber, and on the wall body of a side of the length direction of this piston, constitute tooth bar, and described first matching hole is corresponding to an end end of piston, and described second matching hole is corresponding to the other end end of piston; One gear shaft, the two ends of this gear shaft are arranged on the described gear axis hole rotationally, and lean out the gear axis hole, on this gear shaft, constitute a gear, and this gear is positioned at the cylinder chamber and is meshed with described tooth bar; The single-revolution seat; This revolving bed and described sucker are fixed; And be fixed with one first Connection Block and one second Connection Block at this revolving bed towards a side of said cylinder seat, first, second Connection Block corresponds to each other, and an end of described gear shaft is bearing on first Connection Block rotationally; And the other end is bearing on second Connection Block rotationally; Wherein, on described cylinder seat, be equipped with and be used for first stop screw and second stop screw spacing to described revolving bed, this first, second stop screw is around apart 180 ° of the circumferencial direction of cylinder seat.
have one first cylinder cap on said cylinder seat and in the fixed-site corresponding to the upper end in said cylinder chamber in a concrete embodiment of the present invention, and in the fixed-site corresponding to the lower end in cylinder chamber one second cylinder cap is arranged.
are in another concrete embodiment of the present invention; On described cylinder seat and in position, offer one first locating part groove corresponding to the upper end port in said cylinder chamber; And offer one second locating part groove in position corresponding to the lower end port in cylinder chamber; In the first locating part groove, be provided with one and be used for first locating part spacing, be used for spacing second spacing of said second cylinder cap and in the second locating part groove, be provided with one to said first cylinder cap.
in another concrete embodiment of the present invention, described first locating part and described second locating part are jump ring.
are provided with one first sealing ring in the side of described first cylinder cap towards said cylinder chamber in another concrete embodiment of the present invention, be provided with one second sealing ring in the side of described second cylinder cap towards the cylinder chamber.
also have among the concrete embodiment of the present invention, and described first, second sealing ring is rubber ring.
more of the present invention and among concrete embodiment, respectively be provided with a rubber seal at the two ends of said piston, the chamber wall in rubber seal and said cylinder chamber constitutes sealing.
are in of the present invention and then concrete embodiment; On described first Connection Block, offer one first spindle nose hole; And on second Connection Block and in position, offer one second spindle nose hole corresponding to the first spindle nose hole; One end of described gear shaft is bearing on the first spindle nose hole rotationally; And the other end of gear shaft is bearing on the second spindle nose hole rotationally, and respectively is provided with the spindle nose jump ring in the end that gear shaft leans out the first spindle nose hole and leans out the second spindle nose hole.
are of the present invention again more and among concrete embodiment; On described first Connection Block and in position, be provided with first positioning screw hole that communicates with the first spindle nose hole corresponding to the described first spindle nose hole; On this first positioning screw hole, be equipped with one first dog screw; And on described second Connection Block and in position, be provided with second positioning screw hole that communicates with the second spindle nose hole corresponding to the described second spindle nose hole; On this second positioning screw hole, be equipped with one second dog screw; Wherein: first dog screw matches with an end of said gear shaft, and second dog screw matches with the other end of gear shaft.
are in again of the present invention and then concrete embodiment; End at described gear shaft constitutes one first milling flat; And constitute one second milling flat at the other end of gear shaft; Described first dog screw contacts with first milling flat, and described second dog screw contacts with second milling flat.
The effect of
technical scheme provided by the invention is: one of which, and overall structure is terse, not only can conveniently make, and can fast assemble; Its two, the driven gear by moving up and down of piston, and then make gear shaft rotation by gear finally drives sucker by gear shaft through revolving bed and rotates; Its three because the rotating amplitude of sucker can be by the control of first, second stop screw, thereby make vertical anglec of rotation control of gear shaft, finally make the anglec of rotation of sucker be able to control.
Description of drawings
Fig. 1 is the embodiments of the invention structure chart.
Fig. 2 is an application examples sketch map of the present invention.
The specific embodiment
can be expressly understood technical spirit of the present invention and beneficial effect more for the auditor that the makes Patent Office especially public; The applicant general elaborates with the mode of embodiment below; But the description to embodiment all is not the restriction to the present invention program, any according to the present invention design done only for pro forma but not substantial equivalent transformation all should be regarded as technical scheme category of the present invention.
Embodiment:
see also Fig. 1, provided the sucker 1 and slider block 2 of manipulator, and the vertical angle rotating mechanism that is used to make sucker 1 rotation are between sucker 1 and slider block 2.
are preferred but not vertical angle rotating mechanism that be limited to comprises cylinder seat 3, piston 4, gear shaft 5 and revolving bed 6, and cylinder seat 3 also can be described as cylinder body (as follows) and fixes through the fixing screw hole offered on it and with hold-down screw and aforesaid slider block 2.The short transverse of this cylinder seat 3 is processed with cylinder chamber 31; End in cylinder chamber 31 is that the upper end of shown position state is equipped with one first cylinder cap 35; And being the lower end of shown position state, the other end is equipped with one second cylinder cap 36; And the port position in the upper end in cylinder chamber 31 offers one first locating part groove 37, and the port position in the lower end offers one second locating part groove 38, installs or claim to be provided with when first cylinder cap 35 first locating part 371 to be presented in the first locating part groove 37 after finishing; With example; After 36 settings of second cylinder cap finish, second locating part 381 is placed in the second locating part groove 38, spacing by 371 pairs first cylinder caps 35 of first locating part, limit 381 pairs second cylinder caps 36 of second locating part.Preferably, first, second locating part 371,381 is jump ring.And then, be provided with first sealing ring 351 filled the post of by rubber ring in the side of first cylinder cap 35 towards cylinder chamber 31, same, be provided with one that fill the post of by rubber ring or claim second sealing ring 361 taken in the side of second cylinder cap 36 towards cylinder chamber 31.Upper end in a side of the short transverse of cylinder seat 3 is provided with one first matching hole 32, and the lower end is provided with one second matching hole 33 in addition, and this first, second matching hole 32,33 all communicates with cylinder chamber 31.Specifically; Respectively set connector on first, second matching hole 32,33; And connector is connected with the compressed air source unit pipeline; So that by compressed air source unit such as air compressor or similarly apparatus in cylinder chamber 31, pressure air is provided so that the piston 4 that also will detail below making is in cylinder chamber 31 or move up or down.Certainly, also can adopt hydraulic way that piston 4 is moved up and down in cylinder chamber 31.Again; On cylinder seat 3, also offer a side from cylinder seat 3 and connect a gear axis hole 34 to opposite side; That is to say and on the corresponding wall body of cylinder seat 3, respectively offer the gear axis hole 34 that communicates with cylinder chamber 31; Gear axis hole 34 is corresponding with the position placed in the middle of the short transverse in cylinder chamber 31, and and cylinder chamber 31 between form criss-cross cross reference.Again; Cylinder seat 3 is provided with one first stop screw 39a and one second stop screw 39b; This first, second stop screw 39a, 39b be around 180 ° of the circumferencial direction each intervals of cylinder seat 3, makes the maximum angle of revolution of the left and right sides of the shown position state of revolving bed 6 be defined as 180 ° by this first, second stop screw 39a, 39b.Preferably; Can dispose the 3rd stop screw 39c and the 4th stop screw 39d in the bottom of cylinder seat 3; Three, the 4th stop screw 39c, 39d are parallel, by the 3rd, the 4th stop screw 39c, 39d and make the maximum angle of revolution of both sides, front and back of the shown position of revolving bed 6 be defined as 90 °.
The two ends of
aforesaid gear shaft 5 are supported on the gear axis hole 34 rotationally; And these gear shaft 5 two ends lean out gear axis hole 34 and are fixedly connected with revolving bed 6; On gear shaft 5, constitute a gear 51; This gear 51 is meshed with aforesaid tooth bar 41, and this gear 51 is positioned at cylinder chamber 31.
aforesaid revolving bed 6 is fixed through one group of attachment screw 63 and aforesaid sucker 1; Constitute one first Connection Block 61 and one second Connection Block 62 at this revolving bed 6 towards a side of cylinder seat 3; First, second Connection Block 61,62 corresponds to each other; And on first Connection Block 61, offer one first spindle nose hole 611 and one first positioning screw hole 612; This first positioning screw hole 612 is corresponding with the first spindle nose hole 611 and communicate, and on second Connection Block 62, offers one second spindle nose hole 621 and one second positioning screw hole 622, and this second positioning screw hole 622 is corresponding with the second spindle nose hole 621 and communicate.Wherein: on first positioning screw hole 612, be equipped with one first dog screw 6121, be positioned screw 6221 and on second positioning screw hole 622, be equipped with one second.The two ends of aforesaid gear shaft 5 all lean out gear axis hole 34, and are placed in respectively in first, second spindle nose hole 611,621.
are by shown in Figure 1; End at gear shaft 5 constitutes one first milling flat 53; And the other end constitutes one second milling flat 54; After an end of the gear shaft with first milling flat 53 5 is placed in the first spindle nose hole 611, limits with spindle nose jump ring 52, and match with first milling flat 53 by aforesaid first dog screw 6121.Equally, after an end of the gear shaft with second milling flat 54 5 is placed in the second spindle nose hole 621, limits with spindle nose jump ring 52, and aforesaid second dog screw 6221 is cooperated with this second milling flat 54.
Application examples:
ask for an interview Fig. 2 and continue to combine Fig. 1, and Fig. 2 has provided one and has been used for the slide bar 7 that is connected with slider block 2, and this slide bar 7 is provided on the slide bar guide bracket 71 slidably, and slide bar guide bracket 71 is provided on the pair of guide rails 7111 of transverse arm 711 slidably.Give the acting cylinder 8 that is arranged on the slide bar guide bracket 71 in addition, the acting cylinder post 81 of this acting cylinder 8 is connected with aforementioned slider block 2.Acting cylinder 8 both can be a cylinder, also can be oil cylinder, should use-case selects and used cylinder.Slide bar guide bracket 71 is gone up laterally at transverse arm 711 (also can claim crossbeam) along pair of guide rails 7111 to be moved; And slider block 2 is moved up and down; And driving aforesaid cylinder seat 3 by slider block 2 simultaneously moves up and down; In should use-case, owing between slider block 2 and cylinder seat 3 of the present invention, be provided with a level angle rotating mechanism 9, so aforesaid cylinder seat 3 is connected with level angle rotating mechanism 9.Because sucker 1 is fixing with revolving bed 6, and revolving bed 6 is connected with gear shaft 5, so sucker 1 can move up and down.The suction nozzle of illustrating among Fig. 2 11 on the sucker 1 of being arranged on is used to hold workpiece and discharges in the position of setting (station).
are in the time will making sucker 1 rotational angle; So can be by aforesaid first, second matching hole 32,33 alternately inlet, outlet; Make piston 4 upper and lower alternately mobile; While rotates, makes the workpiece by suction nozzle 11 stickings be transferred to another station and release from a station thereby through revolving bed 6 sucker 1 technological requirement is according to the rules replaced by gear shaft 5 between two stations through tooth bar 41 driven gear axle 5 positive and negative alternately rotations with the meshing relation of gear 51.The applicant need to prove, the notion of vertical rotation of the present invention's definition is according to the motion mode of gear 51
Claims (10)
1. vertical angle rotating mechanism of
a kind of manipulator; Described manipulator comprises a sucker (1) and a slider block (2); It is characterized in that described vertical angle rotating mechanism comprises a cylinder seat (3) that constitutes a cylinder chamber (31); This cylinder seat (3) is positioned between described sucker (1) and the slider block (2); And be fixedly connected with slider block (2); Upper end in a side of the short transverse of cylinder seat (3) offers one first matching hole (32), and the lower end offers one second matching hole (33), and first, second matching hole (32,33) all communicates with described cylinder chamber (31); And on cylinder seat (3), also offer a side from cylinder seat (3) and connect the gear axis hole (34) to opposite side, this gear axis hole (34) is corresponding to the middle position of the short transverse of cylinder chamber (31) and not only communicate with cylinder chamber (31) but also form criss-cross cross reference with cylinder chamber (31); One piston (4); This piston (4) is arranged in the described cylinder chamber (31); And on the wall body of a side of the length direction of this piston (4), constitute tooth bar (41); Described first matching hole (32) is corresponding to an end end of piston (4), and described second matching hole (33) is corresponding to the other end end of piston (4); One gear shaft (5); The two ends of this gear shaft (5) are arranged on the described gear axis hole (34) rotationally; And lean out gear axis hole (34), on this gear shaft (5), constitute a gear (51), this gear (51) is positioned at cylinder chamber (31) and is meshed with described tooth bar (41); Single-revolution seat (6); This revolving bed (6) is fixing with described sucker (1); And be fixed with one first Connection Block (61) and one second Connection Block (62) towards a side of said cylinder seat (3) at this revolving bed (6); First, second Connection Block (61,62) corresponds to each other; One end of described gear shaft (5) is bearing on first Connection Block (61) rotationally, and the other end is bearing on second Connection Block (62) rotationally, wherein; On described cylinder seat (3), be equipped with and be used for first stop screw (39a) and second stop screw (39b) spacing to described revolving bed (6), this first, second stop screw (39a, 39b) is around apart 180 ° of the circumferencial direction of cylinder seat (3).
2. vertical angle rotating mechanism of
manipulator according to claim 1; It is characterized in that going up and one first cylinder cap (35) being arranged, and one second cylinder cap (36) is arranged in fixed-site corresponding to the lower end of cylinder chamber (31) in fixed-site corresponding to the upper end in said cylinder chamber (31) at said cylinder seat (3).
3. vertical angle rotating mechanism of
manipulator according to claim 1 and 2; It is characterized in that going up and offering one first locating part groove (37) in position corresponding to the upper end port in said cylinder chamber (31) at described cylinder seat (3); And offer one second locating part groove (38) in position corresponding to the lower end port of cylinder chamber (31); In the first locating part groove (37), be provided with one and be used for first locating part (374) spacing, be used for second spacing (381) spacing said second cylinder cap (36) and in the second locating part groove (38), be provided with one to said first cylinder cap (35).
4. vertical angle rotating mechanism of
manipulator according to claim 3 is characterized in that described first locating part (371) and described second locating part (381) are jump ring.
5. vertical angle rotating mechanism of
manipulator according to claim 3; It is characterized in that being provided with one first sealing ring (351), be provided with one second sealing ring (361) in the side of described second cylinder cap (36) towards cylinder chamber (31) in the side of described first cylinder cap (35) towards said cylinder chamber (31).
6. vertical angle rotating mechanism of
manipulator according to claim 5 is characterized in that described first, second sealing ring (351,361) is rubber ring.
7. vertical angle rotating mechanism of
manipulator according to claim 1; It is characterized in that respectively being provided with a rubber seal (42) at the two ends of said piston (4), rubber seal (42) constitutes sealing with the chamber wall in said cylinder chamber (31).
8. vertical angle rotating mechanism of
manipulator according to claim 1; It is characterized in that on described first Connection Block (61), offering one first spindle nose hole (611); And go up and offer one second spindle nose hole (621) in position corresponding to the first spindle nose hole (611) at second Connection Block (62); One end of described gear shaft (5) is bearing on the first spindle nose hole (611) rotationally; And the other end of gear shaft (5) is bearing on the second spindle nose hole (621) rotationally, and respectively is provided with spindle nose jump ring (52) in the end that gear shaft (5) leans out the first spindle nose hole (611) and leans out the second spindle nose hole (621).
9. vertical angle rotating mechanism of
manipulator according to claim 8; It is characterized in that on described first Connection Block (61) and in position, being provided with first positioning screw hole (612) that communicates with the first spindle nose hole (611) corresponding to the described first spindle nose hole (611); On this first positioning screw hole (612), be equipped with one first dog screw (6121); And go up and be provided with second positioning screw hole (622) that communicates with the second spindle nose hole (621) in position corresponding to the described second spindle nose hole (621) at described second Connection Block (62); On this second positioning screw hole (622), be equipped with one second dog screw (6221); Wherein: first dog screw (6121) matches with an end of said gear shaft (5), and second dog screw (6221) matches with the other end of gear shaft (5).
10.
Vertical angle rotating mechanism of manipulator according to claim 9; It is characterized in that constituting one first milling flat (53) at an end of described gear shaft (5); And constitute one second milling flat (54) at the other end of gear shaft (5); Described first dog screw (6121) contacts with first milling flat (53), and described second dog screw (6221) contacts with second milling flat (54)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100989310A CN102626918A (en) | 2012-04-06 | 2012-04-06 | Longitudinal angle rotation mechanism for mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100989310A CN102626918A (en) | 2012-04-06 | 2012-04-06 | Longitudinal angle rotation mechanism for mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102626918A true CN102626918A (en) | 2012-08-08 |
Family
ID=46585405
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012100989310A Pending CN102626918A (en) | 2012-04-06 | 2012-04-06 | Longitudinal angle rotation mechanism for mechanical arm |
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| Country | Link |
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| CN (1) | CN102626918A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4201827C1 (en) * | 1992-01-24 | 1993-06-09 | Robert Bosch Gmbh, 7000 Stuttgart, De | Pneumatically and hydraulically driven lift-and-turn device - has groove in vertical spindle for transmission of torque from ball-race between flanges of bearing |
| JP2001300881A (en) * | 2000-04-20 | 2001-10-30 | Juki Corp | Chip mounting head for chip mounter |
| CN100496829C (en) * | 2003-06-10 | 2009-06-10 | 钴碳化钨硬质合金公司 | Cutting tool configured for improving engagement with a tool holder |
| CN201544242U (en) * | 2009-12-04 | 2010-08-11 | 宁波伟立机器人科技有限公司 | Manipulator-type high-torque claw rotating cylinder |
| CN201922445U (en) * | 2010-12-31 | 2011-08-10 | 西安航天精密机电研究所 | Manipulator chamfer angle component |
| CN202517482U (en) * | 2012-04-06 | 2012-11-07 | 常熟市惠一机电有限公司 | Longitudinal angle rotating mechanism of manipulator |
-
2012
- 2012-04-06 CN CN2012100989310A patent/CN102626918A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4201827C1 (en) * | 1992-01-24 | 1993-06-09 | Robert Bosch Gmbh, 7000 Stuttgart, De | Pneumatically and hydraulically driven lift-and-turn device - has groove in vertical spindle for transmission of torque from ball-race between flanges of bearing |
| JP2001300881A (en) * | 2000-04-20 | 2001-10-30 | Juki Corp | Chip mounting head for chip mounter |
| CN100496829C (en) * | 2003-06-10 | 2009-06-10 | 钴碳化钨硬质合金公司 | Cutting tool configured for improving engagement with a tool holder |
| CN201544242U (en) * | 2009-12-04 | 2010-08-11 | 宁波伟立机器人科技有限公司 | Manipulator-type high-torque claw rotating cylinder |
| CN201922445U (en) * | 2010-12-31 | 2011-08-10 | 西安航天精密机电研究所 | Manipulator chamfer angle component |
| CN202517482U (en) * | 2012-04-06 | 2012-11-07 | 常熟市惠一机电有限公司 | Longitudinal angle rotating mechanism of manipulator |
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Application publication date: 20120808 |