CN106002934A - Industrial mechanical arm - Google Patents
Industrial mechanical arm Download PDFInfo
- Publication number
- CN106002934A CN106002934A CN201610065290.7A CN201610065290A CN106002934A CN 106002934 A CN106002934 A CN 106002934A CN 201610065290 A CN201610065290 A CN 201610065290A CN 106002934 A CN106002934 A CN 106002934A
- Authority
- CN
- China
- Prior art keywords
- arm
- screw thread
- forearm
- linking arm
- industrial machine
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
Abstract
The invention relates to an industrial mechanical arm. A rotary frame is fixed to a rotation workbench. First shaft holes are formed in side plates on the two sides of a first forked connector at the upper end of the rotary frame. The lower end of a large arm is arranged in the first forked connector. A notch is formed in the middle of the lower end of the large arm. Second shaft holes are formed in side plates on the two sides of the notch. A double-out-shaft servo motor is arranged in the notch. Two output shafts of the motor are inserted in the first shaft holes and the second shaft holes correspondingly. The corresponding output shaft can be adjusted rotationally, locked and located in the first shaft holes, and the corresponding output shaft is fixed and cannot rotate in the second shaft holes. One end of a crank is fixedly connected with a shell of the motor. The other end of the crank is hinged to the lower end of a connection rod. The middle of a connection arm is hinged into a second forked connector. The rear end of the connection arm is hinged to the upper end of the connection rod. The front end of the connection arm is fixedly connected with the rear end of a small arm. The rear portion of a mechanical paw is arranged in a third forked connector at the front end of the small arm and installed and located through a hinge pin assembly. The industrial mechanical arm is compact in structure, low in manufacturing cost, stable in work and high in control precision.
Description
Technical field
The present invention relates to a kind of industrial machine mechanical arm, belong to industrial automation equipment technical field.
Background technology
Along with commercial production scale constantly expands, assembly line work is to the demand of operator significantly in high volume
Increase.And Chinese aging situation is more serious at present, labor cost improves constantly, and governs enterprise
Development.Use industrial robot to replace manual work, enterprise's dependence to manual work will be substantially reduced.
Industrial machine mechanical arm is to obtain the automated machine of broad practice at present in industrial robot field
Device, can see its figure in a lot of industry manufacture field.But existing mechanical arm exists two asks
Topic: the mechanical arm structure that function is more powerful is complicated, and installing space demand is big, needs many power to input, valency
Lattice are expensive, be unsuitable for widespread adoption, and baroque mechanical arm controls the most complicated, once motion
Order is chaotic, it is difficult to regulation.And lower-cost mechanical arm function is not enough, degree of freedom is few, the field being suitable for
Close few.
Summary of the invention
It is an object of the invention to overcome above-mentioned weak point present in prior art, thus a kind of knot is provided
The industrial machine mechanical arm that structure is compact, low cost of manufacture, working stability, control accuracy are high.
The purpose of the present invention is realized by following technical scheme: a kind of industrial machine mechanical arm, it is characterised in that:
Including rotary table, swivel mount, large arm, crank, connecting rod, linking arm, forearm and mechanical paw；Institute
Stating swivel mount lower end to be fixedly mounted on the revolution table top of rotary table, swivel mount upper end is provided with the first fork-shaped
Joint, two side plates of the first forked element are provided with the first axis hole；Described large arm lower end is placed in described first
In forked element, having notch in the middle part of large arm lower end, the side plate on notch both sides is provided with the second axis hole；Described
Double shaft servomotors are arranged in notch, and two output shaft correspondences respectively of double shaft servomotors are inserted into
In first axis hole and the second axis hole, output shaft is rotatable regulation energy locking positioning, output in the first axis hole
Axle is fixing the most rotatable in the second axis hole；Described crank one end is fixing with the shell of double shaft servomotors to be connected
Connecing, the crank other end is hinged with connecting rod lower end；Described large arm upper end is provided with the second forked element, described connection
Being hinged in the middle part of arm in the second forked element, linking arm rear end is hinged with small end, and linking arm front end is with little
Arm rear end is fixing to be connected, and described forearm front end is provided with third fork shape joint, and described mechanical paw rear portion is placed in the
In trident joint and by Assembly of pin with lock function, location is installed.
As a further improvement on the present invention, described rotary table uses electric rotary table or hydraulic rotating to divide
Degree workbench.
As a further improvement on the present invention, the output shaft of described pair of shaft servomotor and the first forked element
It is provided with lining between the first axis hole on two side plates.
As a further improvement on the present invention, described connecting rod is bending structure, the front of connecting rod lower end and crank
The back side adjacent, the back side of small end is adjacent with the front of linking arm.
As a further improvement on the present invention, described linking arm front end and forearm rear end are by sleeve connection, institute
Stating and be respectively equipped with screw thread on the inner hole wall of sleeve rear and front end, described linking arm front end, forearm rear end set respectively
Having screw thread spindle nose, the screw thread spindle nose of linking arm front end is screwed onto sleeve rear end, the screw thread spindle nose spiral shell of forearm rear end
It is connected on barrel forward end.
As a further improvement on the present invention, the screw thread on described sleeve rear end inner hole wall is forward screw thread, institute
Stating the screw thread on barrel forward end inner hole wall is reverse thread, rotates described sleeve and can order about linking arm and forearm phase
To near or reversely away from, and on the screw thread spindle nose of the screw thread spindle nose of described linking arm front end and forearm rear end
All it is fitted with locking nut.
As a further improvement on the present invention, described sleeve outer wall is provided with anti-skidding lines.
As a further improvement on the present invention, described screw thread spindle nose can arrange scale.
As a further improvement on the present invention, described Assembly of pin with lock function includes taper bolt, taper
Expansion set and swelling nut, the little head end of described taper bolt is provided with screw thread, and described taper expansion set is sleeved on taper bolt
On, the endoporus of taper expansion set mates with the periphery of taper bolt, the periphery of taper expansion set be cylindrical and with machinery
Pin shaft hole coupling on paw and third fork shape joint, described swelling nut spiral shell is contained in the spiral shell of the little head end of taper bolt
On stricture of vagina, taper expansion set can be made to be positioned at by mechanical paw in third fork shape joint by tightening swelling nut.
As a further improvement on the present invention, described mechanical paw rear portion end face is provided with instruction graticule, described
The front end of third fork shape joint two side plate is set to circular arc, and a side plate front end outer side face is provided with wherein
For the angle groove coordinated with described instruction graticule.
The present invention compared with prior art, has the advantage that
(1), present configuration compact, between critical piece all can relative motion regulation, degree of freedom is high,
Easy to control.
(2) section components in the present invention can be directly outer available from, highly versatile, and low cost of manufacture is suitable
In popularization and application on a large scale.
(3), present invention achieves Automated condtrol, working stability, control accuracy are high.
Accompanying drawing explanation
Fig. 1 is the structural front view of the embodiment of the present invention.
Fig. 2 is the left view of Fig. 1.
Fig. 3 is one of perspective view of the embodiment of the present invention.
Fig. 4 is the two of the perspective view of the embodiment of the present invention.
Fig. 5 is the structural representation of Assembly of pin with lock function in the present invention.
Description of reference numerals: 1-rotary table, 1a-connection jaws, 2-swivel mount, 2a-the first forked element,
3-large arm, 3a-the second forked element, 4-crank, 5-connecting rod, 6-linking arm, 7-sleeve, 8-forearm, 8a-
Third fork shape joint, 9-mechanical paw, 10-taper bolt, 11-taper expansion set, 12-swelling nut.
Detailed description of the invention
Below in conjunction with concrete drawings and Examples, the invention will be further described.
As shown in the figure: the industrial machine mechanical arm in embodiment mainly by rotary table 1, swivel mount 2, large arm 3,
Crank 4, connecting rod 5, linking arm 6, sleeve 7, forearm 8, mechanical paw 9, taper bolt 10, taper expansion set
11 and the composition such as swelling nut 12.
As shown in Figure 1 to 4, described swivel mount 2 lower end is fixedly mounted on the revolution table top of rotary table 1
On, described swivel mount 2 upper end is provided with the first forked element 2a, and two side plates of the first forked element 2a set
There is the first axis hole；Described large arm 3 lower end is placed in described first forked element 2a, and large arm 3 is opened in the middle part of lower end
Notch, the side plate on notch both sides is had to be provided with the second axis hole；Described pair of shaft servomotor is arranged in notch,
Two output shaft correspondences respectively of double shaft servomotors are inserted in the first axis hole and the second axis hole, output shaft
Rotatable regulation can be with nut or expansion sleeve locking positioning in the first axis hole, output shaft is in the second axis hole
The most rotatable by keying；Described crank 4 one end is fixing with the shell of double shaft servomotors to be connected, crank 4
The other end is hinged with connecting rod 5 lower end；Described large arm 3 upper end is provided with the second forked element 3a, described linking arm
Being hinged in the middle part of in the of 6 in second forked element 3a, linking arm 6 rear end is hinged with connecting rod 5 upper end, linking arm 6
Front end is fixing with forearm 8 rear end to be connected, and described forearm 8 front end is provided with third fork shape joint 8a, described machinery
In paw 9 rear portion is placed in third fork shape joint 8a and by Assembly of pin with lock function, location is installed.
As shown in Figure 1 to 4, in the present invention, the effect of described rotary table 1 be make swivel mount 2 and
The all parts being arranged on swivel mount 2 can freely turn round, and for realizing this purpose, rotary table 1 can
To use conventional products of the prior art, such as electric rotary table, hydraulic rotating index table etc..Diagram
Using electric rotary table in embodiment, its rear portion is provided with connection jaws 1a, is inserted by corresponding power supply during installation
Head and control terminal are directly inserted on this connection jaws 1a.
As shown in Figure 1 to 4, in the present invention, the effect that described crank 4 plays is the swing by self
Carry out drivening rod 5, then controlled the luffing angle of linking arm 6 by connecting rod 5.In order to realize Automated condtrol,
The swing of crank 4 is preferably also employing can be in the way of automatically controlling.For achieving the above object, the present invention implements
Example have employed double shaft servomotor, utilize double relatively rotating between shaft servo motor stator and rotor
Driving crank 4 to swing, due to servomotor controllable speed, positional precision is very accurate, and can be the most anti-
Should, and there is the characteristics such as electromechanical time constant is little, the linearity is high, pickup voltage, can be the telecommunications received
Number angular displacement being converted on motor output shaft or angular velocity output, be used herein as conveniently realizing from
Dynamicization controls.For making on-the-spot circuit simplify, double shaft servomotors are preferably selected DC servo motor.
In order to avoid the output shaft of double shaft servomotors is directly worn and torn, and improve rotation motility, described
Preferably set between the first axis hole on the output shaft of double shaft servomotors and the first forked element 2a two side plate
There are lining, described lining can use conventional products of the prior art, such as copper bush, politef lining
Set, graphite bushing etc..
As shown in Figure 1 to 4, in the present invention, the effect of described connecting rod 5 is by the wobbling action of crank 4
It is converted into the pitching motion of linking arm 6.Connecting rod 5 in embodiment is set to bending structure, connecting rod 5 lower end
Front adjacent with the back side of crank 4, the back side of connecting rod 5 upper end is adjacent with the front of linking arm 6.Use
Such connecting rod 5 structure can ensure that the transmission of whole mechanical arm more balances, and improves the stability of equipment work.
As shown in Figure 1 to 4, in the embodiment of the present invention, described linking arm 6 front end is passed through with forearm 8 rear end
Sleeve 7 connects, and the inner hole wall of described sleeve 7 rear and front end is respectively equipped with screw thread, before described linking arm 6
End, forearm 8 rear end are respectively equipped with screw thread spindle nose, after the screw thread spindle nose of linking arm 6 front end is screwed onto sleeve 7
End, the screw thread spindle nose of forearm 8 rear end is screwed onto sleeve 7 front end.Such connected mode is fairly simple, group
Mounting or dismounting are unloaded the most more convenient.
But under above-mentioned connected mode, linking arm 6 is fixing with the length sum of forearm 8, works as needs
When this length being adjusted according to Production requirement, must realize by changing the sleeve 7 of different length,
Can make troubles in actual production, what impact produced is smoothed out.
To this end, above-mentioned connected mode is optimized by the present invention, scheme is: in described sleeve 7 rear end
Screw thread on hole wall is forward screw thread, and the screw thread on the inner hole wall of described sleeve 7 front end is reverse thread, rotates
Described sleeve 7 can order about linking arm 6 and forearm 8 in opposite directions near or reversely away from, and described linking arm 6
Locking nut all it is fitted with on the screw thread spindle nose of front end and the screw thread spindle nose of forearm 8 rear end.So turnbarrel 7
Linking arm 6 just can be made to produce change with the length sum of forearm 8, meet Production requirement, greatly reduce
The replacement frequency of sleeve 7, improves production efficiency.For the ease of regulating sleeve 7, described sleeve 7 outer wall sets
There is anti-skidding lines.For the ease of observing regulation length, described screw thread spindle nose can arrange scale.
As shown in Figure 1 to 4, in the present invention, the effect of described mechanical paw 9 is grabbing workpiece, is grabbing
When taking workpiece, the position of mechanical paw 9 locks after sometimes needing to be adjusted, to this end, for by machinery
Paw 9 is connected with forearm 8 and the Assembly of pin that locks is the most extremely important.The embodiment of the present invention gives one
Assembly of pin with lock function as shown in Figure 5, it is mainly by taper bolt 10, taper expansion set 11 and swelling
Nut 12 forms, and the little head end of described taper bolt 10 is provided with screw thread, and described taper expansion set 11 is sleeved on circular cone
On pin 10, the endoporus of taper expansion set 11 mates with the periphery of taper bolt 10, and the periphery of taper expansion set 11 is
Cylindrical and mate with the pin shaft hole on mechanical paw 9 and third fork shape joint 8a, described swelling nut 12
Spiral shell is contained on the screw thread of the little head end of taper bolt 10, taper expansion set 11 can be made machine by tightening swelling nut 12
Tool paw 9 is positioned in third fork shape joint 8a.
Certainly, the Assembly of pin of said structure is one of available scheme of the present invention, as reduction procedure,
The present invention can also use common threaded attaching nut to realize locking positioning.
In order to improve the accuracy of mechanical paw 9 position adjustments further, described mechanical paw 9 rear portion end face
On instruction graticule can be set, the front end of described third fork shape joint 8a two side plate is set to circular arc, at it
In can be provided for the angle groove that coordinates with described instruction graticule on a side plate front end outer side face.So
By coordinating of instruction graticule and angle groove, it is possible to observe the position at mechanical paw 9 place easily,
And can accurately regulate.
Claims (10)
1. an industrial machine mechanical arm, it is characterised in that: include rotary table (1), swivel mount (2), big
Arm (3), crank (4), connecting rod (5), linking arm (6), forearm (8) and mechanical paw (9)；Described
Swivel mount (2) lower end is fixedly mounted on the revolution table top of rotary table (1), swivel mount (2) upper end
Being provided with the first forked element (2a), two side plates of the first forked element (2a) are provided with the first axis hole；Institute
State large arm (3) lower end to be placed in described first forked element (2a), in the middle part of large arm (3) lower end, have groove
Mouthful, the side plate on notch both sides is provided with the second axis hole；Described pair of shaft servomotor is arranged in notch, double
Two output shaft correspondences respectively of shaft servomotor are inserted in the first axis hole and the second axis hole, and output shaft exists
Rotatable regulation energy locking positioning in first axis hole, output shaft is fixing the most rotatable in the second axis hole；Institute
State that crank (4) one end is fixing with the shell of double shaft servomotors to be connected, crank (4) other end and connecting rod
(5) lower end is hinged；Described large arm (3) upper end is provided with the second forked element (3a), described linking arm (6)
Middle part is hinged in the second forked element (3a), and linking arm (6) rear end is hinged with connecting rod (5) upper end,
Linking arm (6) front end is fixing with forearm (8) rear end to be connected, and described forearm (8) front end is provided with third fork shape
Joint (8a), described mechanical paw (9) rear portion is placed in third fork shape joint (8a) and passes through locking
The Assembly of pin of function installs location.
2. industrial machine mechanical arm as claimed in claim 1, it is characterised in that: described rotary table (1)
Use electric rotary table or hydraulic rotating index table.
3. industrial machine mechanical arm as claimed in claim 1, it is characterised in that: described pair of shaft servomotor
It is provided with lining between the first axis hole on output shaft and the first forked element (2a) two side plate.
4. industrial machine mechanical arm as claimed in claim 1, it is characterised in that: described connecting rod (5) is bending
Structure, the front of connecting rod (5) lower end is adjacent with the back side of crank (4), the back side of connecting rod (5) upper end with
The front of linking arm (6) is adjacent.
5. industrial machine mechanical arm as claimed in claim 1, it is characterised in that: described linking arm (6) front end
It is connected by sleeve (7) with forearm (8) rear end, on the inner hole wall of described sleeve (7) rear and front end respectively
Being provided with screw thread, described linking arm (6) front end, forearm (8) rear end are respectively equipped with screw thread spindle nose, linking arm
(6) the screw thread spindle nose of front end is screwed onto sleeve (7) rear end, and the screw thread spindle nose of forearm (8) rear end is screwed onto
Sleeve (7) front end.
6. industrial machine mechanical arm as claimed in claim 5, it is characterised in that: in described sleeve (7) rear end
Screw thread on hole wall is forward screw thread, and the screw thread on the inner hole wall of described sleeve (7) front end is reverse thread, rotation
Turn described sleeve (7) can order about linking arm (6) and forearm (8) in opposite directions near or reversely away from, and institute
State and be all fitted with locking screw on the screw thread spindle nose of linking arm (6) front end and the screw thread spindle nose of forearm (8) rear end
Female.
7. industrial machine mechanical arm as claimed in claim 6, it is characterised in that: described sleeve (7) outer wall sets
There is anti-skidding lines.
8. industrial machine mechanical arm as claimed in claim 6, it is characterised in that: can set on described screw thread spindle nose
Put scale.
9. industrial machine mechanical arm as claimed in claim 1, it is characterised in that: described bearing pin with lock function
Assembly includes taper bolt (10), taper expansion set (11) and swelling nut (12), described taper bolt (10)
Little head end be provided with screw thread, described taper expansion set (11) is sleeved on taper bolt (10), taper expansion set (11)
Endoporus mate with the periphery of taper bolt (10), the periphery of taper expansion set (11) be cylindrical and with machinery
Pin shaft hole coupling on paw (9) and third fork shape joint (8a), described swelling nut (12) spiral shell is contained in
On the screw thread of taper bolt (10) little head end, taper expansion set (11) can be made by tightening swelling nut (12)
Mechanical paw (9) is positioned in third fork shape joint (8a).
10. industrial machine mechanical arm as claimed in claim 1, it is characterised in that: after described mechanical paw (9)
End surface is provided with instruction graticule, and the front end of described third fork shape joint (8a) two side plate is set to circular arc,
A side plate front end outer side face is provided with the angle groove for coordinating with described instruction graticule wherein.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610065290.7A CN106002934A (en) | 2016-01-21 | 2016-01-21 | Industrial mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610065290.7A CN106002934A (en) | 2016-01-21 | 2016-01-21 | Industrial mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106002934A true CN106002934A (en) | 2016-10-12 |
Family
ID=57082739
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610065290.7A Pending CN106002934A (en) | 2016-01-21 | 2016-01-21 | Industrial mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106002934A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106691592A (en) * | 2016-11-23 | 2017-05-24 | 深圳市罗伯医疗科技有限公司 | Robotic arm used for single hole abdominal minimally invasive operation |
| CN107310062A (en) * | 2017-08-10 | 2017-11-03 | 安庆市凯立金刚石科技有限公司 | A kind of processing workpiece erecting device for processing of stone |
| CN107502718A (en) * | 2017-06-06 | 2017-12-22 | 西安冠泰检测技术有限公司 | A kind of antifatigue multiple strengthening process equipment of fastener hole |
| CN108381520A (en) * | 2018-02-28 | 2018-08-10 | 河南机电职业学院 | A kind of replaceable robot arm |
| CN110561473A (en) * | 2019-09-19 | 2019-12-13 | 佛山职业技术学院 | Can prevent manipulator of pencil landing |
| CN110570963A (en) * | 2019-09-10 | 2019-12-13 | 四川航天神坤科技有限公司 | Filter core snatchs transfer device |
| CN110979713A (en) * | 2019-12-25 | 2020-04-10 | 三一汽车制造有限公司 | Unmanned aerial vehicle recovery unit |
| CN112454424A (en) * | 2020-11-18 | 2021-03-09 | 盐城工学院 | Industrial mechanical arm |
| WO2024000938A1 (en) * | 2022-06-30 | 2024-01-04 | 中国科学院自动化研究所 | Motion control system for medical instrument having controllable flexible tail end, and medical device |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106691592A (en) * | 2016-11-23 | 2017-05-24 | 深圳市罗伯医疗科技有限公司 | Robotic arm used for single hole abdominal minimally invasive operation |
| CN107502718A (en) * | 2017-06-06 | 2017-12-22 | 西安冠泰检测技术有限公司 | A kind of antifatigue multiple strengthening process equipment of fastener hole |
| CN107310062A (en) * | 2017-08-10 | 2017-11-03 | 安庆市凯立金刚石科技有限公司 | A kind of processing workpiece erecting device for processing of stone |
| CN108381520A (en) * | 2018-02-28 | 2018-08-10 | 河南机电职业学院 | A kind of replaceable robot arm |
| CN110570963A (en) * | 2019-09-10 | 2019-12-13 | 四川航天神坤科技有限公司 | Filter core snatchs transfer device |
| CN110561473A (en) * | 2019-09-19 | 2019-12-13 | 佛山职业技术学院 | Can prevent manipulator of pencil landing |
| CN110561473B (en) * | 2019-09-19 | 2024-04-23 | 佛山职业技术学院 | Manipulator capable of preventing wire bundles from sliding off |
| CN110979713A (en) * | 2019-12-25 | 2020-04-10 | 三一汽车制造有限公司 | Unmanned aerial vehicle recovery unit |
| CN110979713B (en) * | 2019-12-25 | 2023-04-07 | 湖南省地面无人装备工程研究中心有限责任公司 | Unmanned aerial vehicle recovery unit |
| CN112454424A (en) * | 2020-11-18 | 2021-03-09 | 盐城工学院 | Industrial mechanical arm |
| WO2024000938A1 (en) * | 2022-06-30 | 2024-01-04 | 中国科学院自动化研究所 | Motion control system for medical instrument having controllable flexible tail end, and medical device |
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Application publication date: 20161012 |