CN103586866B - Single driving clamps transposition mechanical arm - Google Patents
Single driving clamps transposition mechanical arm Download PDFInfo
- Publication number
- CN103586866B CN103586866B CN201310560570.1A CN201310560570A CN103586866B CN 103586866 B CN103586866 B CN 103586866B CN 201310560570 A CN201310560570 A CN 201310560570A CN 103586866 B CN103586866 B CN 103586866B
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- wedge
- mechanical arm
- rotary disk
- ejector pin
- gripper jaw
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Abstract
The present invention relates to a kind of single driving and clamp transposition mechanical arm, comprise base, described base is fixed with axle and ejector pin seat, described axle is set with rotary disk, described rotary disk is fixed with installing plate, described installing plate two ends are symmetrically arranged with Liang Fu gripper jaw mechanism, return spring is provided with between in the middle part of described gripper jaw mechanism rear portion and installing plate, on described rotary disk, symmetry offers two and pushes away wedge installing hole, described push away in wedge installing hole be provided with for promote respective clamp pawl mechanism advance and clamping work pieces push away wedge, described push away to be provided with between wedge lower end and rotary disk push away wedge return spring, ejector pin is provided with in described ejector pin seat.The present invention promotes gripper jaw mechanism can to move ahead forward holding workpiece by pushing away wedge, return after pulling the retrogressing of gripper jaw mechanism can first unclamp workpiece by return spring, only drive installation plate does the clockwise intermittent-rotation in cycle 180 °, just can realize the location of workpiece from fixing point to the conversion in any orientation within the scope of 360 °.
Description
Technical field
The present invention relates to a kind of single driving and clamp transposition mechanical arm.
Background technology
Manipulator is some holding function imitating staff and arm, and in order to capture, to carry the automatic pilot of object or operation tool by fixed routine, it is widely used in manufacturing industry.Existing workpiece transposition mechanical arm generally needs two drive systems, there is the shortcomings such as the unstable and energy resource consumption of complex structure, clamping is many, generally also only can realize the workpiece transposition among a small circle.
Summary of the invention
The present invention is directed to above-mentioned prior art Problems existing and make improvement, namely technical problem to be solved by this invention is to provide a kind of novel structure, reasonable in design, the reliable operation list driving clamping transposition mechanical arm that scope is large and workpiece replaces.
In order to solve the problems of the technologies described above, technical scheme of the present invention is: a kind of single driving clamps transposition mechanical arm, comprise base, described base is fixed with axle and ejector pin seat, described axle is set with the rotary disk driven by the drive system using step, described rotary disk is fixed with installing plate, described installing plate two ends are symmetrically arranged with Liang Fu gripper jaw mechanism, return spring is provided with between in the middle part of described gripper jaw mechanism rear portion and installing plate, on described rotary disk, symmetry offers two and pushes away wedge installing hole, described push away in wedge installing hole be provided with for promote respective clamp pawl mechanism advance and clamping work pieces push away wedge, described push away to be provided with between wedge lower end and rotary disk push away wedge return spring, the ejector pin being promoted rising by ejector pin spring is provided with in described ejector pin seat, described ejector pin enters in feed station pushing away in wedge installing hole of aiming to ejector pin bore and rises to promote the corresponding wedge that pushes away.
In further technical scheme, described gripper jaw mechanism comprises slide, three slide blocks, two push pedals and two jaws, described slide locking on a mounting board, slide block A, slide block B, slide block C is successively set on slide along gripper jaw mechanism direction of advance, push pedal A, push pedal B is separately fixed in slide block A and slide block B, power transmission spring and pilot pin thereof is provided with between push pedal A and push pedal B, described slide block C is fixed with cross slide, described cross slide is symmetrically arranged with two transverse sliders in left and right, two jaw rear portions, left and right are articulated with on push pedal B respectively by two, left and right power transmission pin, be locked on two transverse sliders respectively in the middle part of two jaws in left and right, pine folder spring is installed between two jaws in left and right.
In further technical scheme, described gripper jaw mechanism rear portion is provided with and the roller pushing away wedge top and match, described in push away wedge top inclined-plane K promote gripper jaw mechanism by roller and move ahead.
In further technical scheme, described in push away on wedge and offer locating slot P, described rotary disk is symmetrically arranged with the alignment pin matched with corresponding locating slot P.
In further technical scheme, described installing plate end is provided with the dead buting iron determining gripper jaw mechanism forward stroke ultimate position.
In further technical scheme, described axle top is provided with forces to push away the descending discharging block of wedge at unloading station.
In further technical scheme, described push pedal A and slide block A is made into one, and/or described push pedal B and slide block B are made into integrally.
In further technical scheme, described cross slide and slide block C are made into one, and/or two, left and right jaw is made into one respectively with corresponding transverse slider.
In further technical scheme, described the drive system using step comprises stepper motor, driving gear and driven gear, described stepper motor is fixed on base, described driving gear is arranged on the output shaft of stepper motor, described driven gear to be fixed in the middle part of finger plate bottom surface and empty set in axle.
In further technical scheme, described rotary disk bottom surface symmetry offers two and is convenient to pressure ejector pin respectively to leave the corresponding locating slot L pushing away wedge.
Compared with prior art, the present invention has following beneficial effect: this list drives clamping transposition mechanical arm novel structure, reasonable in design, scope is large and workpiece replaces for reliable operation, promote gripper jaw mechanism and can realize forward jaw by pushing away wedge and to protract holding workpiece, return after pulling the retrogressing of gripper jaw mechanism that jaw can be made first to unclamp workpiece by return spring, only need drive installation plate to do the clockwise intermittent-rotation in cycle 180 °, just can realize the location of workpiece from fixing point to the conversion in any orientation within the scope of 360 °.
Below in conjunction with the drawings and specific embodiments, the present invention will be further described in detail.
Accompanying drawing explanation
Fig. 1 is the main TV structure schematic diagram of the embodiment of the present invention.
Fig. 2 is the sectional view at A-A place in Fig. 1.
Fig. 3 is the sectional view at C-C place in Fig. 1.
Fig. 4 is the sectional view at B-B place in Fig. 3.
Fig. 5 be the embodiment of the present invention overlook using state figure.
In figure: 1-base, 2-ejector pin spring, 3-ejector pin seat, 4-ejector pin, 5-rotary disk, 6-pushes away wedge, 7-alignment pin, 8-slide, 9-slide block A, 10-slide block B, the dead buting iron of 11-slide block C, 12-, 13-cross slide, 14-transverse slider, 15-back-up ring, 16-power transmission spring guide pin, 17-roller, 18-return spring, 19-discharging block, 20-axle, 21-installing plate, 22-pushes away wedge return spring, 23-the drive system using step, 24-power transmission spring, 25-power transmission pin, 26-jaw, 27-pine folder spring, 28-push pedal B, 29-push pedal A.
Detailed description of the invention
As shown in Fig. 1 ~ 5, a kind of single driving clamps transposition mechanical arm, comprise base 1, described base 1 is fixed with axle 20 and ejector pin seat 3, described axle 20 is set with the rotary disk 5 driven by the drive system using step 23, described rotary disk 5 is fixed with installing plate 21, described installing plate 21 two ends are symmetrically arranged with Liang Fu gripper jaw mechanism, return spring 18 is provided with between in the middle part of described gripper jaw mechanism rear portion and installing plate 21, on described rotary disk 5, symmetry offers two and pushes away wedge installing hole, described push away in wedge installing hole be provided with for promote respective clamp pawl mechanism advance and clamping work pieces push away wedge 6, described push away to be provided with between wedge 6 lower end and rotary disk 5 push away wedge return spring 22, the ejector pin 4 being promoted rising by ejector pin spring 2 is provided with in described ejector pin seat 3, described ejector pin 4 enters in feed station pushing away in wedge installing hole of aiming to ejector pin seat 3 hole and rises to promote the corresponding wedge 6 that pushes away.
In the present embodiment, described gripper jaw mechanism comprises slide 8, three slide blocks, two push pedals and two jaws 26, described slide 8 is locked on installing plate 21, slide block A9, slide block B 10, slide block C11 is successively set on slide 8 along gripper jaw mechanism direction of advance, push pedal A29, push pedal B28 is separately fixed in slide block A9 and slide block B 10, power transmission spring 24 and pilot pin 16 thereof is provided with between push pedal A29 and push pedal B28, described slide block C11 is fixed with cross slide 13, described cross slide 13 is symmetrically arranged with two transverse sliders 14 in left and right, the skewed slot S at two jaw 26 rear portions, left and right is articulated with on push pedal B28 respectively by two, left and right power transmission pin 25, described push pedal B28 clamps transmission power by two, left and right power transmission pin 25 respectively to two, left and right, be locked on two transverse sliders 14 respectively in the middle part of two jaws 26 in left and right, pine folder spring 27 is installed between two jaws 26 in left and right.
In the present embodiment, described gripper jaw mechanism rear portion is provided with and the roller 17 pushing away wedge 6 top and match, described in push away wedge 6 top inclined-plane K promote gripper jaw mechanism by roller 17 and move ahead; Specifically, described push pedal A29 rear portion is provided with and the roller 17 pushing away wedge 6 top and match, described in push away wedge 6 top inclined-plane K promote slide block A9 by roller 17 and move ahead along slide 8.Described axle 20 top is provided with forces to push away the descending discharging block 19 of wedge 6 at unloading station; Specifically, when pushing away wedge 6 and rotating to unloading station with rotary disk 5, it is descending that the inclined-plane M of described discharging block 19 can force promotion to push away wedge 6.Described gripper jaw mechanism is in the duty of protract clamping or the retrogressing of pine folder, depend on push away wedge 6 be rise or descending, and the rising pushing away wedge 6 is the result that in ejector pin seat 3, ejector pin spring 2 promotes ejector pin 4 rising, it is descending that the inclined-plane M be fixed on the discharging block 19 at axle 20 top then can force promotion to push away wedge 6.
In the present embodiment, described return spring 18 be arranged in the middle part of push pedal A29 rear portion and installing plate 21 between.Described wedge 6 sidewall that pushes away offers locating slot P, described rotary disk 5 is symmetrically arranged with the alignment pin 7 matched with corresponding locating slot P.Described installing plate 21 end is provided with the dead buting iron 12 determining gripper jaw mechanism forward stroke ultimate position; Specifically, described dead buting iron 12 is the stroke ultimate positions determining slide block C11.Described push pedal A29 and slide block A9 can be made into one, and described push pedal B28 and slide block B 10 also can be made into one; Described cross slide 13 can be made into one with slide block C11, and two, left and right jaw 26 also can be made into one respectively with corresponding transverse slider 14.
In the present embodiment, described the drive system using step 23 comprises stepper motor, driving gear and driven gear, described stepper motor also can be fixed on base 1, described driving gear is arranged on the output shaft of stepper motor, described driven gear to be fixed in the middle part of finger plate bottom surface and empty set in axle 20.Described rotary disk 5 bottom surface symmetry offers two and is convenient to pressure ejector pin 4 respectively to leave the corresponding locating slot L pushing away wedge 6; Specifically, when workpiece needs to shift to discharging station from feed station, described the drive system using step 23 drives rotary disk 5 to continue clockwise revolution, and ejector pin 4 pressure is left and pushed away wedge 6 by the inclined-plane N of described locating slot L.
In the present embodiment, this single course of work of clamping transposition mechanical arm that drives is as follows:
When receiving the instruction brought into operation, the drive system using step 23 drives rotary disk 5 to rotate clockwise, and when the ejector pin 4 on ejector pin seat 3 is under the effect of ejector pin spring 2, enter the moment of the locating slot L on rotary disk 5 bottom surface, the drive system using step 23 makes rotary disk 5 stall.Now ejector pin 4 heads on that to push away wedge 6 up, until stop when alignment pin 7 enters locating slot P, the inclined-plane K pushing away wedge 6 top promotes slide block A9 by roller 17 and moves ahead along slide 8, and promote slide block B 10 through power transmission spring 24 and move ahead, be fixed on the power transmission pin 25 of the symmetrical distribution of slide block B 10 end face, the left and right jaw 26 be separately fixed on two transverse sliders 14 of left and right is then driven together to move ahead, and close to workpiece (feed station).Because the gathering sill of transverse slider 14 is sleeved on the cross slide 13 be fixedly connected with slide block C11, also movable slider C11 can be with to move ahead by cross slide 13 to making jaw 26.When slide block C11 encounters after dead buting iron 12 halts, the power transmission pin 25 in slide block B 10 still moves forward pushing away under wedge 6 top bevel K effect, and the skewed slot S kept left on right jaw 26, makes two jaws 26 compress pine folder spring 27 transverse shifting clamping work pieces relatively.When roller 17 forwards straight flange to along the inclined-plane K pushed away on wedge 6, pinching action stops.By power transmission spring 24, jaw 26 pairs of workpiece can realize floating clamping mechanism.
When workpiece needs to shift to discharging station from feed station, the drive system using step 23 makes rotary disk 5 continue clockwise revolution, though ejector pin 4 is left by the inclined-plane N of rotary disk 5 bottom surface locating slot L pressure and pushes away wedge 6, push away in the locating slot P of wedge 6 because alignment pin 7 is still inserted in, workpiece still keeps clamped state.When workpiece moves on to discharging station, push away wedge 6 upper end and encounter discharging buting iron, down promoted along its inclined-plane M, force alignment pin 7 to exit locating slot, pushing away under wedge return spring 22 effect, pushing away wedge 6 and continuing to go downwards to original position.Meanwhile, return spring 18 drags slide block A9 and retreats, and the back-up ring 15 of power transmission spring guide pin 16 leading section nut locking retreats through one section of idle stroke t post-tensioning movable slider B10.Because of the distress resolves that power transmission pin 25 makes left and right jaw 26 clamp, pine folder spring 27 promote under, workpiece is unclamped in the first counter motion of jaw 26, after return to original position with power transmission pin 25.
When rotary disk 5 bottom surface differing the respective phase that another locating slot L of 180 ° forwards feed station to, the moment of being inserted by ejector pin 4, another gripper jaw mechanism corresponding thereto repeats the aforementioned clamping process to workpiece.Unloading station is by the phase decision of installing in the middle part of the relative rotary disk 5 of discharging pan iron.
The foregoing is only preferred embodiment of the present invention, all equalizations done according to the present patent application the scope of the claims change and modify, and all should belong to covering scope of the present invention.
Claims (10)
1. single a driving clamps transposition mechanical arm, comprise base, it is characterized in that: described base is fixed with axle and ejector pin seat, described axle is set with the rotary disk driven by the drive system using step, described rotary disk is fixed with installing plate, described installing plate two ends are symmetrically arranged with Liang Fu gripper jaw mechanism, return spring is provided with between in the middle part of described gripper jaw mechanism rear portion and installing plate, on described rotary disk, symmetry offers two and pushes away wedge installing hole, described push away in wedge installing hole be provided with for promote respective clamp pawl mechanism advance and clamping work pieces push away wedge, described push away to be provided with between wedge lower end and rotary disk push away wedge return spring, the ejector pin being promoted rising by ejector pin spring is provided with in described ejector pin seat, described ejector pin enters in feed station pushing away in wedge installing hole of aiming to ejector pin bore and rises to promote the corresponding wedge that pushes away.
2. single driving according to claim 1 clamps transposition mechanical arm, it is characterized in that: described gripper jaw mechanism comprises slide, three slide blocks, two push pedals and two jaws, described slide locking on a mounting board, slide block A, slide block B, slide block C is successively set on slide along gripper jaw mechanism direction of advance, push pedal A, push pedal B is separately fixed in slide block A and slide block B, power transmission spring and pilot pin thereof is provided with between push pedal A and push pedal B, described slide block C is fixed with cross slide, described cross slide is symmetrically arranged with two transverse sliders in left and right, two jaw rear portions, left and right are articulated with on push pedal B respectively by two, left and right power transmission pin, be locked on two transverse sliders respectively in the middle part of two jaws in left and right, pine folder spring is installed between two jaws in left and right.
3. according to claim 1 and 2ly single drive clamping transposition mechanical arm, it is characterized in that: described gripper jaw mechanism rear portion is provided with and the roller pushing away wedge top and match, described in push away wedge top inclined-plane K promote gripper jaw mechanism by roller and move ahead.
4. according to claim 1 and 2ly single drive clamping transposition mechanical arm, it is characterized in that: described in push away on wedge and offer locating slot P, described rotary disk is symmetrically arranged with the alignment pin matched with corresponding locating slot P.
5. single driving according to claim 1 and 2 clamps transposition mechanical arm, it is characterized in that: described installing plate end is provided with to determine the dead buting iron of gripper jaw mechanism forward stroke ultimate position.
6. single driving according to claim 1 and 2 clamps transposition mechanical arm, it is characterized in that: described axle top is provided with forces to push away the descending discharging block of wedge at unloading station.
7. according to claim 2ly single drive clamping transposition mechanical arm, it is characterized in that: described push pedal A and slide block A is made into one, and/or described push pedal B and slide block B are made into integrally.
8. single driving according to claim 2 clamps transposition mechanical arm, it is characterized in that: described cross slide and slide block C are made into one, and/or two, left and right jaw is made into one respectively with corresponding transverse slider.
9. single driving according to claim 1 clamps transposition mechanical arm, it is characterized in that: described the drive system using step comprises stepper motor, driving gear and driven gear, described stepper motor is fixed on base, described driving gear is arranged on the output shaft of stepper motor, described driven gear to be fixed in the middle part of finger plate bottom surface and empty set in axle.
10. single driving according to claim 1 clamps transposition mechanical arm, it is characterized in that: described rotary disk bottom surface symmetry offers two and is convenient to pressure ejector pin respectively to leave the corresponding locating slot L pushing away wedge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310560570.1A CN103586866B (en) | 2013-11-12 | 2013-11-12 | Single driving clamps transposition mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310560570.1A CN103586866B (en) | 2013-11-12 | 2013-11-12 | Single driving clamps transposition mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103586866A CN103586866A (en) | 2014-02-19 |
| CN103586866B true CN103586866B (en) | 2015-09-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310560570.1A Expired - Fee Related CN103586866B (en) | 2013-11-12 | 2013-11-12 | Single driving clamps transposition mechanical arm |
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| Country | Link |
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| CN (1) | CN103586866B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105057425B (en) * | 2015-08-18 | 2017-06-30 | 宁波宝恒轴承配件制造有限公司 | A kind of high accuracy punching press feeding mechanical hand |
| JP6903740B2 (en) * | 2018-08-24 | 2021-07-14 | 深▲せん▼市誠捷智能装備股▲ふん▼有限公司 | Conveyor device and capacitor assembly machine |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN87211345U (en) * | 1987-11-02 | 1988-08-24 | 上海市公用事业研究所 | Wedge gripping mechanism for manipulator |
| DE3704951A1 (en) * | 1987-02-17 | 1988-08-25 | Fraunhofer Ges Forschung | Drive module for working joints of industrial robots |
| EP0327094A1 (en) * | 1988-02-02 | 1989-08-09 | Nokia Mechatronics Gmbh | Industrial robot |
| CN103029000A (en) * | 2011-10-08 | 2013-04-10 | 宜昌永鑫精工科技有限公司 | Automatic unloading device of grooving machine |
| CN203542609U (en) * | 2013-11-12 | 2014-04-16 | 福建农林大学 | Single-drive clamping position-changing mechanical arm |
-
2013
- 2013-11-12 CN CN201310560570.1A patent/CN103586866B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3704951A1 (en) * | 1987-02-17 | 1988-08-25 | Fraunhofer Ges Forschung | Drive module for working joints of industrial robots |
| CN87211345U (en) * | 1987-11-02 | 1988-08-24 | 上海市公用事业研究所 | Wedge gripping mechanism for manipulator |
| EP0327094A1 (en) * | 1988-02-02 | 1989-08-09 | Nokia Mechatronics Gmbh | Industrial robot |
| CN103029000A (en) * | 2011-10-08 | 2013-04-10 | 宜昌永鑫精工科技有限公司 | Automatic unloading device of grooving machine |
| CN203542609U (en) * | 2013-11-12 | 2014-04-16 | 福建农林大学 | Single-drive clamping position-changing mechanical arm |
Non-Patent Citations (1)
| Title |
|---|
| 一种新型机械手手部夹紧机构的设计及应用;常治斌;《机械传动》;19980331;第22卷(第3期);第43-44页 * |
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| CN103586866A (en) | 2014-02-19 |
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Granted publication date: 20150909 Termination date: 20181112 |