CN105364921A - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
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- CN105364921A CN105364921A CN201410417441.1A CN201410417441A CN105364921A CN 105364921 A CN105364921 A CN 105364921A CN 201410417441 A CN201410417441 A CN 201410417441A CN 105364921 A CN105364921 A CN 105364921A
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Abstract
A mechanical arm comprises a mechanical arm base, a transverse movement mechanism, a rotating mechanism, a clamping device, a first driving device, a second driving device and a third driving device. The first driving device is connected with the transverse movement mechanism, the second driving device is connected with the rotating mechanism, and the third driving device is connected with the clamping device. The clamping device at least comprises a pair of clamping jaws, the rotating mechanism comprises two mechanical arm bodies, and the mechanical arm bodies are connected together through a vertical mounting plate. The mechanical arm can automatically take materials, turn over and move. Operation is easy and convenient, the production efficiency is high, the size is small, and the space occupied by a movement trail is small.
Description
Technical field
The present invention relates to a kind of mechanical device, especially a kind of manipulator.
Background technology
At present, in actual industrial production process, generally all need to carry out feeding to workpiece, mobile, the operation of upset, but be all adopt manually to implement feeding in a lot of processing process, mobile and overturn operation, operational motion is single, repeat, and it is inconvenient, production efficiency is low, and be easy to like this damage and pollute workpiece, especially the fatigue of operator can be caused, and the production of automation can ensure the high accuracy of product, high-quality, high efficiency requirement, therefore automatic mechanical hand is is extensively researched and developed and is applied and forming machine, lathe, on the equipment such as streamline and die casting machine or device, for performing movement, the operations such as upset and crawl, but prior art and device have respective shortcoming, as large in taken up room, complex structure, the limitation such as efficiency is low.
Wherein, in each manufacturing enterprise, usually need the workpiece in pipeline to carry out gripping, upset and mobile operation, how to realize the gripping to workpiece column position, thus realize the automatic control that workpiece moves accurately, fast and efficiently and overturn, be that a lot of enterprise is in research and search problem.
Chinese invention patent application number is 201320688027.5, patent name is " singly referring to clamp turning manipulator ", this patent of invention discloses a kind of manipulator of gripping columnar workpiece, in particular for wheel industry wheel hub loading and unloading work but refer to clamp turning manipulator, comprise the support being provided with finger, one end and the returning face plate of support are hinged; One end and the returning face plate of clamping cylinder are hinged, and its other end is hinged with finger; Returning face plate arranges mounting frame for sensor, this mounting frame for sensor arranges proximity switch.Although this device can realize the automatic control overturn, once can only overturn a workpiece, operating efficiency is not high, and can not realize moving horizontally of workpiece.
Chinese invention patent application number is 201220590755.8, patent name is " folder bottle turning manipulator ", the invention discloses a kind of folder bottle turning manipulator, comprise rotating chassis, rotating chassis circumference is installed with manipulator mount pad, manipulator mount pad is rotatablely equipped with nipper shaft, the end winding support of nipper shaft is provided with jaw body, jaw body is installed with the jaw for clamping bottle, rotating chassis is also provided with swing tong arm, installation shaft is rotated in the one end swinging the corresponding jaw of tong arm, gland axle is provided with the gland for gripping bottle, the other end swinging tong arm is provided with and swings tong arm drive unit.This invention also can realize the upset of bottle automatically, and operating efficiency is also very high, but this device can only overturn the bottle of traverse, can not realize equally overturning moving horizontally of bottle.
Summary of the invention
The present invention be exactly for prior art exist deficiency and provide a kind of automatic material taking, upset, movement and production efficiency is high, movement locus the little manipulator that takes up space.
The present invention solves the technical scheme adopted:
A kind of manipulator, comprise manipulator base, translation mechanism, rotating mechanism, clamp device, the first drive unit, the second drive unit, the 3rd drive unit, described first drive unit is connected with translation mechanism, described second drive unit is connected with rotating mechanism, described 3rd drive unit is connected with clamp device, it is characterized in that: described clamp device is at least containing a sub-folder pawl, and described rotating mechanism comprises two mechanical arms, and described mechanical arm is linked together by right angle setting plate.
Described manipulator base comprises walking underframe, line slideway, side shield, hard limited block, anticollison block, drag chain plate, stopping means, bearing spider, bearing, ball-screw, motor plate, the both sides of described walking underframe are connected with line slideway, the outside of described line slideway is connected with side shield, the two ends of described line slideway are connected by hard limited block, totally 4 hard limited blocks, the one side of described hard limited block contacts with anticollison block and coordinates, a described wherein line slideway is equipped with left and right stopping means respectively, two ends of described manipulator base are connected with bearing spider respectively, described bearing spider coordinates with bearing touch, connected by ball-screw between described two bearings, one end of described ball-screw is connected with the first drive unit, described first drive unit is connected with motor plate.
Described rotating mechanism comprises rotating bottom board, moving slide board, nut seat, nut, gripper shoe, rotate axis, bearing block, shock-absorbing seat, elevating bracket, telescopic stand, sensor, the bottom surface of the rotating bottom board of described rotating mechanism is connected with the moving slide board on manipulator base, described moving slide board is connected with nut seat, described nut seat and nut interference fit, described nut is connected with ball-screw, the end face of described rotating bottom board is connected with two gripper shoes, described gripper shoe rotates axis by one and couples together, one end of described rotation axis is connected with the second drive unit, described rotation axis is coaxially arranged by one end of bearing block and two mechanical arms, a shock-absorbing seat is respectively provided with immediately below mechanical arm on described rotating bottom board, the side of described two mechanical arms contacts with elevating bracket and coordinates, opposite side contacts with telescopic stand and coordinates, described elevating bracket is provided with sensor.
Described clamp device comprises jaw, grasping drive unit installing plate, finger block, clamping slide plate, described clamp device is connected with telescopic stand, described 3rd drive unit contacts with grasping drive unit installing plate and coordinates, described grasping drive unit installing plate is evenly arranged at least two sub-folder pawls, described jaw is made up of two finger blocks, clamping slide plate is stamped in the top of described jaw, and one of them finger block of described jaw is connected with clamping slide plate, at least two clamping slide plates.
Preferably, first, second and third drive unit described is pneumatic pivot angle cylinder or servomotor or stepper motor.
Preferably, at least two, the clamping slide plate of composition clamp device, each clamping slide plate is at least provided with a sub-folder pawl, establishes two to clamp slide plates, that each clamping slide plate is provided with 5 sub-folder pawls is comparatively reasonable in technical scheme.
The invention has the beneficial effects as follows: the present invention adopts three independently drive units, three different motions can be realized simultaneously; This device can realize the upset to workpiece, and can realize the horizontal movement of workpiece; This device is provided with 10 sub-folder pawls, and can realize the gripping of 10 workpiece, operating efficiency is high simultaneously.
accompanying drawing illustrates:
Fig. 1 is general assembly part perspective view of the present invention.
Fig. 2 is manipulator base vertical view of the present invention.
Fig. 3 is manipulator base B-B left view of the present invention.
Fig. 4 is translation mechanism of the present invention and rotating mechanism top view.
detailed description of the invention:
Below in conjunction with drawings and Examples, the present invention is further illustrated, but not as the foundation limited the present invention.
Embodiment: a 1. manipulator, comprise manipulator base 1, translation mechanism 4, rotating mechanism 5, clamp device 6, first drive unit 2, second drive unit 3, the 3rd drive unit 7, described first drive unit 5 is connected with translation mechanism 4, described second drive unit 3 is connected with rotating mechanism 5, described 3rd drive unit 7 is connected with clamp device 6, it is characterized in that: described clamp device 6 is at least containing a sub-folder pawl 605, described rotating mechanism 5 comprises two mechanical arms 502, and described mechanical arm 502 is linked together by right angle setting plate 501.
Described manipulator base 1 comprises walking underframe 101, line slideway 102, side shield 103, hard limited block 106, anticollison block 105, drag chain plate 110, stopping means 111, bearing spider 107, bearing 108, ball-screw 109, motor plate 112, the both sides of described walking underframe 101 are connected with line slideway 102, the outside of described line slideway 102 is connected with side shield 103, the two ends of described line slideway 102 are connected by hard limited block 106, totally 4 hard limited blocks 106, the one side of described hard limited block 106 contacts with anticollison block 105 and coordinates, a described wherein line slideway 102 is equipped with left and right stopping means 111 respectively, two ends of described manipulator base 1 are connected with bearing spider 107 respectively, described bearing spider 107 contacts with bearing 108 and coordinates, connected by ball-screw 109 between described two bearings 108, one end of described ball-screw 109 is connected with the first drive unit 2, described first drive unit 2 is connected with motor plate 112.
Described translation mechanism 4 comprises translation base plate 401, moving slide board 402, nut seat 403, nut 404, gripper shoe 405, rotates axis 407, bearing block 406, shock-absorbing seat 408, the two ends of described rotation axis 407 contact with bearing block 406 and coordinate, described bearing block 406 is connected with gripper shoe 405, described gripper shoe 405 is fixed on translation base plate 401, described translation base plate 401 is connected with moving slide board 402, described moving slide board 402 is connected with nut seat 403, described nut seat 403 and nut 404 interference fit.
The operation principle of translation mechanism 4 is: the first drive unit 2 drives ball-screw 109 to rotate, the ball-screw 109 rotated drives nut 404 to rotate, nut 404 drives the moving slide board 402 linked into an integrated entity with nut seat 403 to move, because the translation base plate 401 of moving slide board 402 with translation mechanism 4 is fixed, thus realize moving horizontally of translation mechanism 4, undertaken spacing by stopping means 111 pairs of translation mechanisms 4.
Described rotating mechanism 5 comprises mechanical arm 502, elevating bracket 503, telescopic stand 504, sensor 505, one end of described rotation axis 407 is connected with the second drive unit 3, described rotation axis 407 is coaxially arranged by one end of bearing block 406 and two mechanical arms 502, a shock-absorbing seat 408 is respectively provided with immediately below mechanical arm 502 on described translation base plate 401, the side of described two mechanical arms 502 contacts with elevating bracket 503 and coordinates, opposite side touches with flexible seated connection 504 and coordinates, and described elevating bracket 503 is provided with sensor 505.
Described clamp device 6 comprises jaw 605, grasping drive unit installing plate 601, finger block 603, clamping slide plate 602, described clamp device 6 is connected with telescopic stand 504, described 3rd drive unit 7 contacts with grasping drive unit installing plate 601 and coordinates, described grasping drive unit installing plate 601 is evenly arranged at least two sub-folder pawls 605, described jaw 605 is made up of two finger blocks 603, clamping slide plate 602 is stamped in the top of described jaw 605, one of them finger block 603 of described jaw 605 is connected with clamping slide plate 602, at least two clamping slide plates 602.
Clamp device 6 with the operation principle of rotating mechanism 5 is: the short-range level and the vertical motion that are realized rotating mechanism 5 by elevating bracket 503 and telescopic stand 504, and by the sensor 505 on elevating bracket 503, jaw 605 is navigated to workpiece 604 position, workpiece 604 is made to be between two finger blocks 603 of jaw 605, driven the motion of the finger block 603 be fixed on clamping slide plate 602 again by the 3rd drive unit 7, thus realize opening and clamping of jaw 605.Two mechanical arms 502 be fixed on rotation axis 407 are driven to rotate by the second drive unit 3, mechanical arm 502 is through the opposite side of rotary motion to rotation axis 407, and reduce vibration by shock-absorbing seat 408, and play spacing effect, realize the upset of mechanical arm 502.
Described first drive unit 2, second drive unit 3, the 3rd drive unit 7 are pneumatic pivot angle cylinder or servomotor or stepper motor.
Claims (6)
1. a manipulator, comprise manipulator base, translation mechanism, rotating mechanism, clamp device, the first drive unit, the second drive unit, the 3rd drive unit, described first drive unit is connected with translation mechanism, described second drive unit is connected with rotating mechanism, described 3rd drive unit is connected with clamp device, it is characterized in that: described clamp device is at least containing a sub-folder pawl, described rotating mechanism comprises two mechanical arms, and described mechanical arm is linked together by right angle setting plate.
2. manipulator according to claim 1, it is characterized in that: described manipulator base comprises walking underframe, line slideway, side shield, hard limited block, anticollison block, drag chain plate, stopping means, bearing spider, bearing, ball-screw, motor plate, the both sides of described walking underframe are connected with line slideway, outside and the side of described line slideway are worked as plate and are connected, the two ends of described line slideway are connected by hard limited block, totally 4 hard limited blocks, the one side of described hard limited block contacts with anticollison block and coordinates, a described wherein line slideway is equipped with left and right stopping means respectively, two ends of described manipulator base are connected with bearing spider respectively, described bearing spider coordinates with bearing touch, connected by ball-screw between described two bearings, one end of described ball-screw is connected with the first drive unit, described first drive unit is connected with motor plate.
3. manipulator according to claim 1, it is characterized in that: described translation mechanism comprises translation base plate, moving slide board, nut seat, nut, gripper shoe, rotation axis, bearing block, shock-absorbing seat, the two ends of described rotation axis contact with bearing block and coordinate, described bearing block is connected with gripper shoe, described gripper shoe is fixed on translation base plate, described translation base plate is connected with moving slide board, and described moving slide board is connected with nut seat, described nut seat and nut interference fit.
4. manipulator according to claim 1, it is characterized in that: described rotating mechanism comprises mechanical arm, elevating bracket, telescopic stand, sensor, one end of described rotation axis is connected with the second drive unit, described rotation axis is coaxially arranged by one end of bearing block and two mechanical arms, a shock-absorbing seat is respectively provided with immediately below mechanical arm on described rotating bottom board, the side of described two mechanical arms contacts with elevating bracket and coordinates, opposite side contacts with telescopic stand and coordinates, and described elevating bracket is provided with sensor.
5. manipulator according to claim 1, it is characterized in that: described clamp device comprises jaw, grasping drive unit installing plate, finger block, clamping slide plate, described clamp device is connected with telescopic stand, described 3rd drive unit contacts with grasping drive unit installing plate and coordinates, described grasping drive unit installing plate is evenly arranged at least two sub-folder pawls, described every sub-folder pawl is made up of two finger blocks, the top of described jaw is provided with clamping slide plate, one of them finger block of described jaw is connected with clamping slide plate, totally two clamping slide plates.
6. the manipulator according to claim 1 or 4 or 5, is characterized in that: first, second and third drive unit described is pneumatic pivot angle cylinder or servomotor or stepper motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410417441.1A CN105364921A (en) | 2014-08-24 | 2014-08-24 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410417441.1A CN105364921A (en) | 2014-08-24 | 2014-08-24 | Mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105364921A true CN105364921A (en) | 2016-03-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410417441.1A Pending CN105364921A (en) | 2014-08-24 | 2014-08-24 | Mechanical arm |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105751213A (en) * | 2016-05-14 | 2016-07-13 | 黄河科技学院 | Suction type multi-degree of freedom robot mechanical hand mechanism |
| CN105945901A (en) * | 2016-05-14 | 2016-09-21 | 黄河科技学院 | Clamping jaw type multi-freedom-degree robot manipulator mechanism |
| CN107010402A (en) * | 2017-04-27 | 2017-08-04 | 歌尔股份有限公司 | Clamping upset assembly tool and clamping upset assemble method |
| CN107695770A (en) * | 2017-11-07 | 2018-02-16 | 东风设备制造有限公司 | A kind of multi items miniature workpiece robot charge device |
| CN108202319A (en) * | 2016-03-04 | 2018-06-26 | 温州市科泓机器人科技有限公司 | The fast operating method of conveying robot |
| CN108436497A (en) * | 2018-05-22 | 2018-08-24 | 南京工程学院 | A kind of flexible Z axis and C axis composite structures |
| CN109686554A (en) * | 2019-02-27 | 2019-04-26 | 东莞市冠威机械有限公司 | Adhesive tape apparatus for turning |
| CN109746937A (en) * | 2019-02-28 | 2019-05-14 | 山东小鸭精工机械有限公司 | Manipulator and wheel rim handling equipment |
| CN114194819A (en) * | 2021-11-04 | 2022-03-18 | 天津城建大学 | Automatic clamping and transferring device |
-
2014
- 2014-08-24 CN CN201410417441.1A patent/CN105364921A/en active Pending
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108202319A (en) * | 2016-03-04 | 2018-06-26 | 温州市科泓机器人科技有限公司 | The fast operating method of conveying robot |
| CN108214470A (en) * | 2016-03-04 | 2018-06-29 | 温州市科泓机器人科技有限公司 | Adaptive quick catching robot |
| CN105751213A (en) * | 2016-05-14 | 2016-07-13 | 黄河科技学院 | Suction type multi-degree of freedom robot mechanical hand mechanism |
| CN105945901A (en) * | 2016-05-14 | 2016-09-21 | 黄河科技学院 | Clamping jaw type multi-freedom-degree robot manipulator mechanism |
| CN105945901B (en) * | 2016-05-14 | 2017-11-10 | 黄河科技学院 | Jack catchs type multi-freedom robot manipulator mechanism |
| CN107010402A (en) * | 2017-04-27 | 2017-08-04 | 歌尔股份有限公司 | Clamping upset assembly tool and clamping upset assemble method |
| CN107695770A (en) * | 2017-11-07 | 2018-02-16 | 东风设备制造有限公司 | A kind of multi items miniature workpiece robot charge device |
| CN108436497A (en) * | 2018-05-22 | 2018-08-24 | 南京工程学院 | A kind of flexible Z axis and C axis composite structures |
| CN109686554A (en) * | 2019-02-27 | 2019-04-26 | 东莞市冠威机械有限公司 | Adhesive tape apparatus for turning |
| CN109686554B (en) * | 2019-02-27 | 2024-03-12 | 东莞市冠威机械有限公司 | Adhesive tape turnover device |
| CN109746937A (en) * | 2019-02-28 | 2019-05-14 | 山东小鸭精工机械有限公司 | Manipulator and wheel rim handling equipment |
| CN114194819A (en) * | 2021-11-04 | 2022-03-18 | 天津城建大学 | Automatic clamping and transferring device |
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Application publication date: 20160302 |