CN103538052A - Fine adjustment mechanical arm - Google Patents
Fine adjustment mechanical arm Download PDFInfo
- Publication number
- CN103538052A CN103538052A CN201310453714.3A CN201310453714A CN103538052A CN 103538052 A CN103538052 A CN 103538052A CN 201310453714 A CN201310453714 A CN 201310453714A CN 103538052 A CN103538052 A CN 103538052A
- Authority
- CN
- China
- Prior art keywords
- mentioned
- fine setting
- sucker body
- rotationally connected
- moving member
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention discloses a fine adjustment mechanical arm which comprises a supporting frame. The fine adjustment mechanical arm is characterized by further comprising a first movement piece, a first connecting arm assembly, a fine adjustment movement piece, an object taking device, a driving piece and a control piece, wherein the first movement piece is arranged on the supporting frame, the first connecting arm assembly slides on the movement piece, the fine adjustment movement piece is connected to the first connecting arm assembly in a rotary mode, the object taking device is connected to the fine adjustment movement piece in a rotary mode, the driving piece is connected to the first movement piece, the fine adjustment movement piece, the first connecting arm assembly and the object taking device, and the control piece is connected with the driving piece. The object taking device is composed of a sucking disc body, a sucking nozzle and limiting pieces, wherein the sucking disc body is connected to the first connecting arm assembly in a rotary mode, the sucking nozzle is formed in the lower end of the sucking disc body, and the limiting pieces are connected to the sucking disc body in a rotary mode and arranged on the two sides of the sucking nozzle. According to the fine adjustment mechanical arm, the positions of elaborate parts can be accurately determined, and the accuracy and the stability in the production process are improved.
Description
Technical field
, a kind of fine setting manipulator particularly.
Background technology
The automatic pilot of manipulator for capturing, carry object or operation tool by fixed routine.It can replace people's heavy work to realize mechanization and the automation of producing, and can under hostile environment, operate with protection personal safety, thereby be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.But for comparatively meticulous part machinery hand, cannot determine position accurately, prior art is unresolved such problem also.
Summary of the invention
For solving the deficiencies in the prior art, the object of the present invention is to provide a kind of position of manipulator also can prepare to determine to(for) comparatively meticulous part.
In order to realize above-mentioned target, the present invention adopts following technical scheme:
Fine setting manipulator, comprising: bracing frame, is characterized in that, also comprise: be placed in the first moving member on bracing frame, slide on the first connection arm assembly on moving member, be rotationally connected with the fine setting moving member of connection arm assembly, be rotationally connected with the load-engaging device of fine setting moving member; Be connected in the actuator of moving member, connection arm assembly, load-engaging device, connect the control piece of actuator; Load-engaging device forms to be had: be rotationally connected with the sucker body of the first connection arm assembly, be placed in the suction nozzle of sucker body lower end, be rotationally connected with sucker body and be placed in the locating part of suction nozzle both sides.
Aforesaid fine setting manipulator, the first moving member is cross slide way, fine setting moving member is fine setting cross slide way.
Aforesaid fine setting manipulator, locating part is: be rotationally connected with the position limit arm of sucker body, the first rotating shaft of connecting sucker body, position limit arm; The size of position limit arm is from close sucker body to little away from the gradual change of sucker body.
Aforesaid fine setting manipulator, position limit arm top is provided with Non-slip material.
Aforesaid fine setting manipulator, Non-slip material is rubber strip.
Aforesaid fine setting manipulator, the first connection arm assembly forms to be had: the first linking arm that is fixed on the slide block of cross slide way, be rotationally connected with the first linking arm and be rotationally connected with second linking arm of fine setting slide block of fine setting cross slide way, connect the second rotating shaft of the first linking arm, the second linking arm.
Aforesaid fine setting manipulator, is also provided with between fine setting slide block, sucker body: the second connection arm assembly; The second connection arm assembly forms to be had: be fixed on " L " shape linking arm of finely tuning slide block and being rotationally connected with sucker body, connect the 3rd rotating shaft of " L " shape linking arm, sucker body.
Aforesaid fine setting manipulator, actuator is connected in the first rotating shaft, the second rotating shaft, the 3rd rotating shaft, slide block, fine setting slide block.
Aforesaid fine setting manipulator, actuator is motor.
Aforesaid fine setting manipulator, control piece is central processing unit.
Usefulness of the present invention is: the invention provides a kind of position of manipulator also can prepare to determine to(for) comparatively meticulous part, improve accuracy and stability in production process.
Accompanying drawing explanation
Fig. 1 is the side view of a preferred embodiment of the present invention;
Fig. 2 is the front view of a preferred embodiment of the present invention;
The implication of Reference numeral in figure:
1 bracing frame, 2 sucker bodies, 3 position limit arms, 4 cross slide waies, 5 fine setting cross slide waies, 6 first rotating shafts, 7 second rotating shafts, 8 first linking arms, 9 second linking arms, 10 rubber strips, 11 " L " shape linking arm, 12 slide blocks, 13 suction nozzles, 14 the 3rd rotating shafts, 15 fine setting slide blocks.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is done to concrete introduction.
Fine setting manipulator, comprising: bracing frame 1, is characterized in that, also comprise: be placed in the first moving member on bracing frame 1, slide on the first linking arm 8 assemblies on moving member, be rotationally connected with the fine setting moving member of connection arm assembly, be rotationally connected with the load-engaging device of fine setting moving member; Be connected in the actuator of moving member, connection arm assembly, load-engaging device, connect the control piece of actuator; Load-engaging device forms to be had: be rotationally connected with the sucker body 2 of the first linking arm 8 assemblies, be placed in the suction nozzle 13 of sucker body 2 lower ends, be rotationally connected with sucker body 2 and be placed in the locating part of suction nozzle 13 both sides.The first moving member is cross slide way 4, and fine setting moving member is fine setting cross slide way 5.By cross slide way 4, substantially determine the lateral attitude of sucker, by the lateral attitude of fine setting cross slide way 5 fine adjustment suckers.Control piece is central processing unit, and actuator is connected in the first rotating shaft 6, the second rotating shaft 7, the 3rd rotating shaft 14, slide block 12, fine setting slide block 15; Actuator is motor.
Locating part is: be rotationally connected with the position limit arm 3 of sucker body 2, the first rotating shaft 6 of connecting sucker body 2, position limit arm 3; The size of position limit arm 3 is from close sucker body 2 to little away from 2 gradual changes of sucker body.It should be noted that: such design is for the fine parts of taking, the size of position limit arm 3 is little fine parts preferably in end.The effect of limit assembly is no matter part after sucker is drawn is what type, weight, volume, shape can be firm transporting and placing, because position limit arm 3 is rotationally connected with sucker body 2 by the first rotating shaft 6, so can guarantee the stable central shaft position that is positioned at suction nozzle 13 of part in moving process, can not be shifted.
The first linking arm 8 assemblies form to be had: the first linking arm 8 that is fixed on the slide block 12 of cross slide way 4, be rotationally connected with the first linking arm 8 and be rotationally connected with second linking arm 9 of fine setting slide block 15 of fine setting cross slide way 5, connect the second rotating shaft 7 of the first linking arm 8, the second linking arm 9.Between fine setting slide block 15, sucker body 2, be also provided with: the second linking arm 9 assemblies; The second linking arm 9 assemblies form has: be fixed on fine setting slide block 15 and be rotationally connected with sucker body 2 " L " shape linking arm 11, connect the 3rd rotating shaft 14 of " L " shape linking arm 11, sucker body 2.It should be noted that: the effect of connection arm assembly is the position of determining sucker body 2 vertical directions.The second rotating shaft 7 is vertical angles of determining sucker, guarantees that the position of drawing is accurate.
Position limit arm 3 tops are provided with Non-slip material; As Non-slip material, it is rubber strip 10.Sheet rubber can increase the stiction of part and limit assembly, thereby avoids part to be shifted or landing in transportation.
The invention provides a kind of position of manipulator also can prepare to determine to(for) comparatively meticulous part, improve accuracy and stability in production process.
More than show and described basic principle of the present invention, principal character and advantage.The technical staff of the industry should understand, and above-described embodiment does not limit the present invention in any form, and all employings are equal to replaces or technical scheme that the mode of equivalent transformation obtains, all drops in protection scope of the present invention.
Claims (10)
1. fine setting manipulator, comprising: bracing frame, is characterized in that, also comprise: be placed in the first moving member on bracing frame, slide on the first connection arm assembly on above-mentioned moving member, be rotationally connected with the fine setting moving member of above-mentioned connection arm assembly, be rotationally connected with the load-engaging device of above-mentioned fine setting moving member; Be connected in the actuator of above-mentioned moving member, connection arm assembly, load-engaging device, connect the control piece of above-mentioned actuator; Above-mentioned load-engaging device forms to be had: be rotationally connected with the sucker body of above-mentioned the first connection arm assembly, be placed in the suction nozzle of above-mentioned sucker body lower end, be rotationally connected with above-mentioned sucker body and be placed in the locating part of said suction nozzle both sides.
2. fine setting manipulator according to claim 1, is characterized in that, above-mentioned the first moving member is cross slide way, and above-mentioned fine setting moving member is fine setting cross slide way.
3. fine setting manipulator according to claim 1, is characterized in that, above-mentioned locating part is: be rotationally connected with the position limit arm of above-mentioned sucker body, connect the first rotating shaft of above-mentioned sucker body, position limit arm; The size of above-mentioned position limit arm is from close sucker body to little away from the gradual change of sucker body.
4. fine setting manipulator according to claim 3, is characterized in that, above-mentioned position limit arm top is provided with Non-slip material.
5. fine setting manipulator according to claim 3, is characterized in that, above-mentioned Non-slip material is rubber strip.
6. fine setting manipulator according to claim 1, it is characterized in that, above-mentioned the first connection arm assembly forms to be had: the first linking arm that is fixed on the slide block of above-mentioned cross slide way, be rotationally connected with above-mentioned the first linking arm and be rotationally connected with the second linking arm of the fine setting slide block of above-mentioned fine setting cross slide way, connect the second rotating shaft of above-mentioned the first linking arm, the second linking arm.
7. fine setting manipulator according to claim 1, is characterized in that, is also provided with: the second connection arm assembly between above-mentioned fine setting slide block, sucker body; Above-mentioned the second connection arm assembly forms to be had: be fixed on above-mentioned fine setting slide block and be rotationally connected with " L " shape linking arm of above-mentioned sucker body, connect the 3rd rotating shaft of above-mentioned " L " shape linking arm, sucker body.
8. according to the fine setting manipulator described in claim 3,6 or 7, it is characterized in that, above-mentioned actuator is connected in above-mentioned the first rotating shaft, the second rotating shaft, the 3rd rotating shaft, slide block, fine setting slide block.
9. fine setting manipulator according to claim 8, is characterized in that, above-mentioned actuator is motor.
10. fine setting manipulator according to claim 1, is characterized in that, above-mentioned control piece is central processing unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310453714.3A CN103538052B (en) | 2013-09-29 | 2013-09-29 | Fine setting mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310453714.3A CN103538052B (en) | 2013-09-29 | 2013-09-29 | Fine setting mechanical hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103538052A true CN103538052A (en) | 2014-01-29 |
| CN103538052B CN103538052B (en) | 2016-08-17 |
Family
ID=49962097
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310453714.3A Expired - Fee Related CN103538052B (en) | 2013-09-29 | 2013-09-29 | Fine setting mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103538052B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105082101A (en) * | 2015-08-10 | 2015-11-25 | 苏州普京真空技术有限公司 | Movable adsorption device |
| CN106553164A (en) * | 2016-11-24 | 2017-04-05 | 国网山东省电力公司济南供电公司 | A kind of new hanging wire mechanical arm |
| CN108481297A (en) * | 2018-05-22 | 2018-09-04 | 青岛科技大学 | A kind of industry crawl mechanical equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4561825A (en) * | 1982-03-26 | 1985-12-31 | Hitachi, Ltd. | Apparatus for fetching component parts |
| EP0366430A1 (en) * | 1988-10-24 | 1990-05-02 | Tokyu Sharyo Seizo Kabushiki Kaisha | Multi-articulation robot |
| CN1448251A (en) * | 2003-04-24 | 2003-10-15 | 上海交通大学 | Three-finger adsorption mechanical gripper |
| CN101797751A (en) * | 2010-01-26 | 2010-08-11 | 哈尔滨工程大学 | Industrial robot structure with seven tandem shafts for pipe end operations |
| CN203557378U (en) * | 2013-09-29 | 2014-04-23 | 昆山中士设备工业有限公司 | Fine-tuning manipulator |
-
2013
- 2013-09-29 CN CN201310453714.3A patent/CN103538052B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4561825A (en) * | 1982-03-26 | 1985-12-31 | Hitachi, Ltd. | Apparatus for fetching component parts |
| EP0366430A1 (en) * | 1988-10-24 | 1990-05-02 | Tokyu Sharyo Seizo Kabushiki Kaisha | Multi-articulation robot |
| CN1448251A (en) * | 2003-04-24 | 2003-10-15 | 上海交通大学 | Three-finger adsorption mechanical gripper |
| CN101797751A (en) * | 2010-01-26 | 2010-08-11 | 哈尔滨工程大学 | Industrial robot structure with seven tandem shafts for pipe end operations |
| CN203557378U (en) * | 2013-09-29 | 2014-04-23 | 昆山中士设备工业有限公司 | Fine-tuning manipulator |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105082101A (en) * | 2015-08-10 | 2015-11-25 | 苏州普京真空技术有限公司 | Movable adsorption device |
| CN106553164A (en) * | 2016-11-24 | 2017-04-05 | 国网山东省电力公司济南供电公司 | A kind of new hanging wire mechanical arm |
| CN106553164B (en) * | 2016-11-24 | 2018-11-27 | 国网山东省电力公司济南供电公司 | A kind of hanging wire mechanical arm |
| CN108481297A (en) * | 2018-05-22 | 2018-09-04 | 青岛科技大学 | A kind of industry crawl mechanical equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103538052B (en) | 2016-08-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204172029U (en) | Servo-controlled three-freedom degree precision manipulator | |
| CN205381715U (en) | Sucking disc formula hydraulic pressure lifts cargo handling machine | |
| CN103538066B (en) | The manipulator of automatic adaptation | |
| CN103538052A (en) | Fine adjustment mechanical arm | |
| CN204607036U (en) | A kind of assimilating type handgrip of robot | |
| CN104227705A (en) | Lifting sucker manipulator with three-dimensional fine-tuning function | |
| CN104891176A (en) | Suction type gripper of robot | |
| CN104772763A (en) | Suction type robot hand grab applied to circular arc surface workpieces | |
| CN103538056A (en) | Manipulator beneficial to stable transporting of screws | |
| CN203557378U (en) | Fine-tuning manipulator | |
| CN207387689U (en) | A kind of vacuum cup machinery arm device | |
| CN202781107U (en) | Lifting platform system | |
| CN103538072A (en) | Manipulator with accurate positioning ability | |
| CN105059414A (en) | Climb-on-surface robot | |
| CN203680281U (en) | Mechanical hand applied to multiple parts | |
| CN104999461A (en) | Mechanical arm moving module mechanism | |
| CN205415664U (en) | A sucking disc formula end effector for panel processing | |
| CN204604342U (en) | A kind of robot assimilating type handgrip being applicable to circular arc camber workpiece | |
| CN103419197A (en) | Transverse-moving three-axis servo manipulator | |
| CN204054050U (en) | A kind of lifting sucker manipulator with three-dimensional fine setting | |
| CN203557389U (en) | Manipulator with accurate positioning capacity | |
| CN103538055A (en) | Mechanical arm suitable for various parts | |
| CN204276273U (en) | Vacuum point gum machine | |
| CN103538071A (en) | Mechanical arm wide in application scope | |
| CN104339348A (en) | Three-dimensional fine adjustment platform capable of three-dimensional fine adjustment for lifting sucker manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Lin Ziqiang Inventor before: Yan Shiliang Inventor before: Yao Ye |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170930 Address after: 528000, No. four, No. 203, maple tower, Maple Road, Beijiao community committee, Beijiao Town, Shunde District, Foshan, Guangdong Patentee after: Foshan city Shunde District ruibote Automatic Equipment Co Ltd Address before: Suzhou City, Jiangsu province 215300 Jinxiang Kunshan Jinxi Road Development Zone No. 338 Patentee before: Kunshan Sergernt Equipment Industry Co., Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160817 Termination date: 20200929 |