CN105798904A - Assembly mechanical arm - Google Patents

Assembly mechanical arm Download PDF

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Publication number
CN105798904A
CN105798904A CN201610271263.5A CN201610271263A CN105798904A CN 105798904 A CN105798904 A CN 105798904A CN 201610271263 A CN201610271263 A CN 201610271263A CN 105798904 A CN105798904 A CN 105798904A
Authority
CN
China
Prior art keywords
mentioned
assembly
rod
mechanical hand
fixed
Prior art date
Application number
CN201610271263.5A
Other languages
Chinese (zh)
Inventor
郑坚雄
Original Assignee
昆山邦泰汽车零部件制造有限公司
昆山一邦泰汽车零部件制造有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 昆山邦泰汽车零部件制造有限公司, 昆山一邦泰汽车零部件制造有限公司 filed Critical 昆山邦泰汽车零部件制造有限公司
Priority to CN201610271263.5A priority Critical patent/CN105798904A/en
Publication of CN105798904A publication Critical patent/CN105798904A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/02Gripping heads and other end effectors servo-actuated
    • B25J15/0206Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/06Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126Rotary actuators

Abstract

The invention discloses an assembly mechanical arm which comprises a rotary base, a grabbing mechanical arm body and an installing mechanical arm body, wherein the grabbing mechanical arm body is fixed to one side of the rotary base and used for grabbing an assembly component, and the installing mechanical arm body is fixed to the other side of the rotary base and used for installing screws. The grabbing mechanical arm body comprises a first connecting rod, a first rotary shaft, a pressing plate, a spring component, an electronic telescopic rod and a vacuum chuck, wherein the first connecting rod is connected to the rotary base; the first rotary shaft is fixed to the first connecting rod; the pressing plate is connected to the first rotary shaft; the spring component is arranged under the pressing plate and is in contact with the assembly component; the electronic telescopic rod is connected with the first connecting rod and arranged below the spring component; and the vacuum chuck is connected to the electronic telescopic rod. The installing mechanical arm body comprises a second connecting rod, a second rotary shaft and a pneumatic screwdriver, wherein the second connecting rod is connected to the rotary base; the second rotary shaft is fixed to the second connecting rod; and the pneumatic screwdriver is connected to the second rotary shaft. The mechanical arm is applicable to assembly, and a set of motion including grabbing and installing can be completed independently through the mechanical arm; through the arrangement of the second rotary shaft, installation in all positions of the assembly component is facilitated; through the arrangement of the electronic telescopic rod, the vacuum chuck can stretch into the lower portion of the assembly component conveniently; and the structure is simple, the occupied space is small, and the assembly efficiency is high.

Description

Assembly mechanical hand
Technical field
Relate to mechanical automation, particularly a kind of mechanical hand.
Background technology
Some holding function of staff and arm can be imitated, in order to capture, to carry object or the automatic pilot of operation instrument by fixed routine.Mechanical hand is the industrial robot occurred the earliest; also it is the modern machines people occurred the earliest; it can replace the heavy labor of people to realize the mechanization and the automatization that produce; can operate to protect personal safety under hostile environment, thus be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.Particularly in assembly shop, mechanical hand coordinates workman to complete assembly work, can improve efficiency, and prior art does not also occur completing alone to take, install a set of mechanical hand.
Summary of the invention
For solving the deficiencies in the prior art, it is an object of the invention to provide a kind of being applicable to assemble, can take and the mechanical hand installing a set of action by complete independently, the setting of the second rotating shaft, convenient in the installation of assembling each position of assembly, arranging of electronics expansion link facilitates vacuum cup to stretch under assembling assembly, simple in construction, taking up room little, efficiency of assembling is high.
In order to realize above-mentioned target, the present invention adopts the following technical scheme that:
Assembly mechanical hand, including: rotating base, it is fixed on rotating base side the mechanical hand of taking for assembling assembly of taking, it is fixed on rotating base opposite side and for installing the installation manipulator of screw, mechanical hand of taking composition has: be connected to the head rod of rotating base, it is fixed on the first rotating shaft on head rod, it is connected to the pressing plate in the first rotating shaft, it is placed under pressing plate and contacts the spring assembly of assembling assembly, it is connected to the electronics expansion link that head rod is placed under spring assembly, is connected to the vacuum cup of electronics expansion link;Installation manipulator composition has: is connected to the second connecting rod of rotating base, is fixed on the second rotating shaft of the second connecting rod, is connected to the steam-operating screwdriver of the second rotating shaft.
Aforesaid assembly mechanical hand, spring assembly composition has: is fixed on the first extension rod of head rod, the second extension rod, is fixed on the spring under the first extension rod, the second extension rod.
Aforesaid assembly mechanical hand, the length of the first extension rod is less than the second extension rod.
Aforesaid assembly mechanical hand, spring has cushion pad.
Aforesaid assembly mechanical hand, rotating base composition has: base body, is fixed on the electric rotating machine on base body, is connected to the gear turntable of electric rotating machine, connects and fixes the mobile base in gear turntable.
Aforesaid assembly mechanical hand, also includes: is connected to the controller of the first rotating shaft, the second rotating shaft, electronics expansion link, vacuum cup, is connected to the power supply of controller.
Aforesaid assembly mechanical hand, the first rotating shaft, the second rotating shaft are electron spin axes.
The invention have benefit that: the present invention provides a kind of and is applicable to assembling, can take and the mechanical hand installing a set of action by complete independently, the present invention by arrange rotating base realize take after can complete immediately install, the design of mechanical hand of taking can not only stably be taken assembling assembly and do not injure assembling assembly, the setting of the second rotating shaft, convenient in the installation of assembling each position of assembly, arranging of electronics expansion link facilitates vacuum cup to stretch under assembling assembly, present configuration is simple, taking up room little, efficiency of assembling is high.
Accompanying drawing explanation
Fig. 1 is the sectional view of a kind of embodiment of the present invention;
The implication of accompanying drawing labelling in figure:
1 rotating base, 101 base body, 102 electric rotating machines, 103 gear turntables, 104 mobile base, 2 take mechanical hand, 3 installation manipulators, 301 second rotating shafts, 4 head rods, 5 first rotating shafts, 6 pressing plate, 7 spring assemblies, 701 first extension rods, 702 second extension rods, 703 springs, 704 cushion pads, 705 electronics expansion links, 8 vacuum cups, 9 second connecting rods, 10 steam-operating screwdrivers.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention done concrete introduction.
Assembly mechanical hand, including: rotating base 1, it is fixed on rotating base 1 side the mechanical hand 2 of taking for assembling assembly of taking, it is fixed on rotating base 1 opposite side and for installing the installation manipulator 3 of screw, mechanical hand 2 of taking composition has: be connected to the head rod of rotating base 1, it is fixed on the first rotating shaft 5 on head rod, it is connected to the pressing plate 6 in the first rotating shaft 5, it is placed in pressing plate 6 times and contacts the spring assembly of assembling assembly, it is connected to the electronics expansion link 705 that head rod is placed under spring assembly, it is connected to the vacuum cup 8 of electronics expansion link 705.
Spring assembly composition has: is fixed on first extension rod the 701, second extension rod 702 of head rod, is fixed on the spring under first extension rod the 701, second extension rod 702.The length of the first extension rod 701 is less than the second extension rod 702.It should be noted that extension rod is possible not only to is two, it is also possible to be multiple or one.But the shape of assembling assembly is generally irregular, has convex-concave, spring 703 is set and can make the surface of pressing plate 6 pressure laminating assembling assembly, it is achieved stable transport;In order to avoid spring 703 scratches the surface of assembling assembly, spring 703 has cushion pad 704, and cushion pad 704 can be rubber blanket, it is also possible to be foam pad.Arranging of electronics expansion link 705 facilitates vacuum cup 8 to stretch under assembling assembly.
Installation manipulator 3 composition has: is connected to the second connecting rod 9 of rotating base 1, is fixed on the second rotating shaft 301 of the second connecting rod 9, is connected to the steam-operating screwdriver 10 of the second rotating shaft 301;The setting of the second rotating shaft 301, convenient in the installation of assembling each position of assembly.In order to realize automatization, mechanical hand, also include: be connected to the controller of first rotating shaft the 5, second rotating shaft 301, electronics expansion link 705, vacuum cup 8, be connected to the power supply of controller;Preferred as one, first rotating shaft the 5, second rotating shaft 301 is electron spin axes.
Rotating base 1 composition has: base body 101, is fixed on the electric rotating machine on base body 101, is connected to the gear turntable 103 of electric rotating machine, connects and fixes the mobile base 104 in gear turntable 103.Electric rotating machine drives gear turntable 103 to rotate, and drives the mobile base 104 being connected in gear turntable 103 to rotate, thus realizing rotating a circle.
Running: mechanical hand 2 of taking is taken assembling assembly, controller controls electronics expansion link 705 and extends, vacuum cup 8 is placed under assembling assembly, the first rotating shaft 5 is driven to rotate, rotary push plate 6, by the first extension rod 701, the auxiliary of the second extension rod 702 and spring 703, assembling assembly is stablized compression set on vacuum cup 8, open electric rotating machine, electric rotating machine drives gear turntable 103 to rotate, the mobile base 104 being connected in gear turntable 103 is driven to rotate, thus realizing rotating a circle, rotate the first rotating shaft 5 and stop pressing, and stop vacuum cup 8, assembling assembly is put down, mobile base 104 movable one week again, installation manipulator 3 is gone back to installation site, control the second rotating shaft 301 by controller to rotate, choose best angle to realize installing.
The present invention provides a kind of and is applicable to assembling, can take and the mechanical hand installing a set of action by complete independently, the present invention by arrange rotating base 1 realize take after can complete immediately install, the design of mechanical hand 2 of taking can not only stably be taken assembling assembly and do not injure assembling assembly, the setting of the second rotating shaft 301, convenient installs in assembling each position of assembly, arranging of electronics expansion link 705 facilitates vacuum cup 8 to stretch under assembling assembly, present configuration is simple, takes up room little, and efficiency of assembling is high.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.Skilled person will appreciate that of the industry, above-described embodiment does not limit the present invention in any form, and all employings are equal to the technical scheme that the mode of replacement or equivalent transformation obtains, and all fall within protection scope of the present invention.

Claims (7)

1. assembly mechanical hand, it is characterized in that, including: rotating base, it is fixed on above-mentioned rotating base side the mechanical hand of taking for assembling assembly of taking, it is fixed on above-mentioned rotating base opposite side and for installing the installation manipulator of screw, above-mentioned mechanical hand composition of taking has: be connected to the head rod of above-mentioned rotating base, it is fixed on the first rotating shaft on above-mentioned head rod, it is connected to the pressing plate in above-mentioned first rotating shaft, it is placed under above-mentioned pressing plate and contacts the spring assembly of assembling assembly, it is connected to the electronics expansion link that above-mentioned head rod is placed under above-mentioned spring assembly, it is connected to the vacuum cup of above-mentioned electronics expansion link;Above-mentioned installation manipulator composition has: is connected to the second connecting rod of above-mentioned rotating base, is fixed on the second rotating shaft of above-mentioned second connecting rod, is connected to the steam-operating screwdriver of above-mentioned second rotating shaft.
2. assembly mechanical hand according to claim 1, it is characterised in that above-mentioned spring assembly composition has: is fixed on the first extension rod of above-mentioned head rod, the second extension rod, is fixed on the spring under above-mentioned first extension rod, the second extension rod.
3. assembly mechanical hand according to claim 2, it is characterised in that the length of above-mentioned first extension rod is less than the second extension rod.
4. assembly mechanical hand according to claim 2, it is characterised in that above-mentioned spring has cushion pad.
5. assembly mechanical hand according to claim 1, it is characterized in that, above-mentioned rotating base composition has: base body, is fixed on the electric rotating machine on above-mentioned base body, it is connected to the gear turntable of above-mentioned electric rotating machine, connects and fixes in the mobile base of said gear rotating disk.
6. assembly mechanical hand according to claim 1, it is characterised in that also include: be connected to the controller of above-mentioned first rotating shaft, the second rotating shaft, electronics expansion link, vacuum cup, be connected to the power supply of controller noted above.
7. assembly mechanical hand according to claim 1, it is characterised in that above-mentioned first rotating shaft, the second rotating shaft are electron spin axes.
CN201610271263.5A 2016-04-28 2016-04-28 Assembly mechanical arm CN105798904A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610271263.5A CN105798904A (en) 2016-04-28 2016-04-28 Assembly mechanical arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610271263.5A CN105798904A (en) 2016-04-28 2016-04-28 Assembly mechanical arm

Publications (1)

Publication Number Publication Date
CN105798904A true CN105798904A (en) 2016-07-27

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610271263.5A CN105798904A (en) 2016-04-28 2016-04-28 Assembly mechanical arm

Country Status (1)

Country Link
CN (1) CN105798904A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108748060A (en) * 2018-08-16 2018-11-06 浙江海洋大学 A kind of ship dock container provision for disengagement of registration

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5681022A (en) * 1992-06-26 1997-10-28 Rankin; Noel William George Clamping device
CN103042530A (en) * 2012-12-10 2013-04-17 上海通领汽车饰件有限公司 Manipulator clamp
CN103448052A (en) * 2012-06-04 2013-12-18 盐城市昱博自动化设备有限公司 Novel vacuum handling manipulator
CN203380893U (en) * 2013-06-21 2014-01-08 厦门赛恩机电科技有限公司 Mechanical arm vacuum absorption clamping head
CN203510216U (en) * 2013-09-16 2014-04-02 江苏尚诚精密模具科技有限公司 Intelligent transfer robot
CN204172031U (en) * 2014-11-04 2015-02-25 深圳市富泰顶精密机械有限公司 Suction manipulator
CN204997325U (en) * 2015-09-22 2016-01-27 苏州工业园区嘉宝精密机械有限公司 A automatic feeding agencies for locking pay

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5681022A (en) * 1992-06-26 1997-10-28 Rankin; Noel William George Clamping device
CN103448052A (en) * 2012-06-04 2013-12-18 盐城市昱博自动化设备有限公司 Novel vacuum handling manipulator
CN103042530A (en) * 2012-12-10 2013-04-17 上海通领汽车饰件有限公司 Manipulator clamp
CN203380893U (en) * 2013-06-21 2014-01-08 厦门赛恩机电科技有限公司 Mechanical arm vacuum absorption clamping head
CN203510216U (en) * 2013-09-16 2014-04-02 江苏尚诚精密模具科技有限公司 Intelligent transfer robot
CN204172031U (en) * 2014-11-04 2015-02-25 深圳市富泰顶精密机械有限公司 Suction manipulator
CN204997325U (en) * 2015-09-22 2016-01-27 苏州工业园区嘉宝精密机械有限公司 A automatic feeding agencies for locking pay

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108748060A (en) * 2018-08-16 2018-11-06 浙江海洋大学 A kind of ship dock container provision for disengagement of registration

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SE01 Entry into force of request for substantive examination
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Application publication date: 20160727