CN105082148A - Three-position mechanical hand - Google Patents
Three-position mechanical hand Download PDFInfo
- Publication number
- CN105082148A CN105082148A CN201510516290.XA CN201510516290A CN105082148A CN 105082148 A CN105082148 A CN 105082148A CN 201510516290 A CN201510516290 A CN 201510516290A CN 105082148 A CN105082148 A CN 105082148A
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- gear
- hinged
- support arm
- bevel gear
- cam
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Abstract
The invention discloses a three-position mechanical hand which is high in grasping efficiency and low in cost. The three-position mechanical hand comprises a vertical driving shaft, wherein three horizontal driving cams are arranged on the driving shaft respectively, the profile of each driving cam is abutted to one end surface of a corresponding oscillating bar, the middle parts of the three oscillating bars are hinged to the same vertical supporting shaft, the other end of each oscillating bar is fixed to a corresponding sliding block, and each sliding block is hinged to one end of a corresponding mechanical arm; a first bevel gear is arranged at the lower end of the driving shaft, a second bevel gear meshed with the first bevel gear is vertically arranged, a first driven gear is coaxially arranged on the second bevel gear, the first driven gear is meshed with a middle gear, the middle gear is meshed with a second driven gear, a driven cam is arranged to be coaxial with the second driven gear, and a rack vertically arranged can be driven by the driven cam to move up and down; three fan-shaped gears are meshed on the rack, wheel shaft positions of the fan-shaped gears are hinged to the middle parts of the mechanical arms, and a reset spring is arranged on each of the mechanical arms.
Description
Technical field
The present invention relates to a kind of three station manipulators.
Background technology
Manipulator is for capturing, carrying or the automatic pilot of operation tool in industrial production; the heavy labor of people can be replaced to realize mechanization and the automation of production; can operate to protect personal safety under hostile environment, thus be widely used in the fields such as machine-building, metallurgy, electronics, light industry and atomic energy.At present, for capturing the manipulator with the workpiece of inner circle (as nut, pipe fitting etc.), usually be only designed with one and capture station,, slow motion, captures efficiency low, and usually adopt hydraulic-driven, because Hydraulic Elements require higher precision and sealing property during fabrication, otherwise can there is the risk of leakage of oil, therefore cost is high.
Summary of the invention
The invention is intended to provide a kind of and capture the three station manipulators that efficiency is high, action is fast, cost is low.
Three station manipulators in this programme, comprise vertical driving shaft, driving shaft is respectively equipped with the driving cam of three levels, the profile of driving cam all offsets with an end face of each self-corresponding fork, the middle part of three forks is hinged on same vertical back shaft, the other end of fork is fixed with corresponding slide block respectively, one end of slide block and each self-corresponding mechanical arm is hinged, the lower end of driving shaft is provided with the first bevel gear, that engages with the first bevel gear is provided with the second vertical bevel gear, second bevel gear is coaxially provided with the first driven gear, first driven gear engages with idler gear, idler gear engages with the second driven gear, with the second driven gear coaxial be provided with inverted cam, inverted cam can force a tooth bar vertically arranged to move up and down, tooth bar is engaged with respectively three sector gears, the wheel shaft place of sector gear is hinged with the middle part of mechanical arm respectively, each mechanical arm is equipped with back-moving spring.
Operation principle and the beneficial effect of this programme are as follows:
Controlled by driving cam during the moving forward and backward of mechanical arm, driving cam is moved back and forth by fork band movable slider, thus driving mechanical arm advances or retreats; The revolution of mechanical arm is by inverted cam, and inverted cam forces tooth bar in the vertical direction to move back and forth, thus drives sector gear reciprocally swinging, driving mechanical arm reciprocating rotating in upright plane, thus grabbing workpiece.
This programme is designed with three and captures station, captures efficiency high, and adopts mechanical type to drive, and action is fast and stable, low compared to hydraulic-driven cost.
Further, for the ease of the inner circle of grabbing workpiece, and ensure the stability of grabbing workpiece, the front end of mechanical arm is provided with outer expansion sleeve, and the end of outer expansion sleeve has tapering.
Further, between inverted cam and tooth bar, be provided with centering block, the end of centering block is provided with roller, and the cylindrical of described roller and the profile of inverted cam offset.Coordinated with inverted cam by design roller, avoid centering block and inverted cam profile direct effect, easily accelerate the problem of component wear.
Further, mechanical arm comprises the first support arm and the second support arm, and the first support arm is hinged with the wheel shaft of slide block and sector gear respectively, and the second support arm is removably connected by bolt and the first support arm, and outer expansion sleeve is fixed on the second support arm.The mechanical arm of this programme is designed to split-type structural, and the second support arm and the first support arm are removably connected by bolt, when needing the workpiece capturing different size, is convenient for changing.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment of the present invention.
Detailed description of the invention
Below by detailed description of the invention, the present invention is further detailed explanation:
Reference numeral in Figure of description comprises: driving cam 1, fork 2, slide block 3, back-moving spring 4, sector gear 5, tooth bar 6, first support arm 7, second support arm 8, centering block 9, roller 10, inverted cam 11.
Embodiment is substantially as shown in Figure 1: the present embodiment three station manipulator, mechanical arm comprises the first support arm and the second support arm, first support arm is hinged with the wheel shaft of slide block and sector gear respectively, second support arm is removably connected by bolt and the first support arm, outer expansion sleeve is fixed on the second support arm, and the end of outer expansion sleeve has tapering.
Vertical driving shaft is by power driven rotary, and driving shaft is respectively equipped with the driving cam of three levels, the profile of driving cam all offsets with an end face of each self-corresponding fork, and this end face of fork is round and smooth cambered surface.The middle part of three forks is hinged on same vertical back shaft.The other end of fork is fixed with corresponding slide block respectively, and one end of slide block and each self-corresponding mechanical arm is hinged.
The lower end of driving shaft is provided with the first bevel gear, that engages with the first bevel gear is provided with the second vertical bevel gear, second bevel gear is coaxially provided with the first driven gear, first driven gear engages with idler gear, idler gear engages with the second driven gear, with the second driven gear coaxial be provided with inverted cam, inverted cam can force a tooth bar vertically arranged to move up and down, concrete is provided with centering block between inverted cam and tooth bar, one end of centering block is provided with roller, and the cylindrical of roller and the profile of inverted cam offset.
The other end of centering block is hinged, the upper surface of centering block and the lower surface of tooth bar offset, tooth bar is engaged with respectively three sector gears, the wheel shaft place of sector gear is hinged with the middle part of mechanical arm respectively, each mechanical arm is equipped with back-moving spring, back-moving spring one end is fixed on mechanical arm, and the other end is fixed in frame.
Above-described is only embodiments of the invention, and in scheme, the general knowledge such as known concrete structure and characteristic does not do too much description at this.Should be understood that; for a person skilled in the art, under the prerequisite not departing from structure of the present invention, some distortion and improvement can also be made; these also should be considered as protection scope of the present invention, and these all can not affect effect of the invention process and practical applicability.The protection domain that this application claims should be as the criterion with the content of its claim, and the detailed description of the invention in description etc. record the content that may be used for explaining claim.
Claims (4)
1. three station manipulators, it is characterized in that, comprise vertical driving shaft, driving shaft is respectively equipped with the driving cam of three levels, the profile of driving cam all offsets with an end face of each self-corresponding fork, the middle part of three forks is hinged on same vertical back shaft, the other end of fork is fixed with corresponding slide block respectively, one end of slide block and each self-corresponding mechanical arm is hinged, the lower end of driving shaft is provided with the first bevel gear, that engages with the first bevel gear is provided with the second vertical bevel gear, second bevel gear is coaxially provided with the first driven gear, first driven gear engages with idler gear, idler gear engages with the second driven gear, with the second driven gear coaxial be provided with inverted cam, inverted cam can force a tooth bar vertically arranged to move up and down, tooth bar is engaged with respectively three sector gears, the wheel shaft place of sector gear is hinged with the middle part of mechanical arm respectively, each mechanical arm is equipped with back-moving spring.
2. three station manipulators according to claim 1, is characterized in that: the front end of described mechanical arm is provided with outer expansion sleeve, and the end of outer expansion sleeve has tapering.
3. three station manipulators according to claim 1, it is characterized in that: between inverted cam and tooth bar, be provided with centering block, the end of centering block is provided with roller, and the cylindrical of described roller and the profile of inverted cam offset.
4. three station manipulators according to claim 2, it is characterized in that: described mechanical arm comprises the first support arm and the second support arm, first support arm is hinged with the wheel shaft of slide block and sector gear respectively, second support arm is removably connected by bolt and the first support arm, and outer expansion sleeve is fixed on the second support arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510516290.XA CN105082148A (en) | 2015-08-21 | 2015-08-21 | Three-position mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510516290.XA CN105082148A (en) | 2015-08-21 | 2015-08-21 | Three-position mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105082148A true CN105082148A (en) | 2015-11-25 |
Family
ID=54563919
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510516290.XA Pending CN105082148A (en) | 2015-08-21 | 2015-08-21 | Three-position mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105082148A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111823263A (en) * | 2020-07-28 | 2020-10-27 | 连云港华鼎车轮有限公司 | Automatic manipulator for machining automobile steel ring |
| CN114683017A (en) * | 2020-12-31 | 2022-07-01 | 华为技术有限公司 | Equipment assembling system and method |
-
2015
- 2015-08-21 CN CN201510516290.XA patent/CN105082148A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111823263A (en) * | 2020-07-28 | 2020-10-27 | 连云港华鼎车轮有限公司 | Automatic manipulator for machining automobile steel ring |
| CN114683017A (en) * | 2020-12-31 | 2022-07-01 | 华为技术有限公司 | Equipment assembling system and method |
| CN114683017B (en) * | 2020-12-31 | 2023-08-22 | 华为技术有限公司 | Equipment assembling system and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20151125 |
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| WD01 | Invention patent application deemed withdrawn after publication |