CN106625764A - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
- Publication number
- CN106625764A CN106625764A CN201610876570.6A CN201610876570A CN106625764A CN 106625764 A CN106625764 A CN 106625764A CN 201610876570 A CN201610876570 A CN 201610876570A CN 106625764 A CN106625764 A CN 106625764A
- Authority
- CN
- China
- Prior art keywords
- motor
- forearm
- arm
- bracket
- waist
- 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
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mechanical arm, which comprises a base, a rotary waist, a big arm, a small arm, a cantilever and an executive component. The rotary waist is arranged on the base; a motor in the base drives the rotary waist to rotate on the base through a transmission mechanism; two ends of the big arm are axially connected with the side end of the rotary waist and the small arm; a motor on the end part of the big arm drives the big arm to rotate by adopting a connecting shaft of the rotary waist as an axis through a transmission gear; a motor on the end part of the small arm drives the small arm to rotate by adopting a connecting shaft of the big arm as an axis through a transmission gear; two ends of the cantilever are axially connected with the front end of the small arm and the executive component; a motor built in the cantilever rotates the cantilever through a rotary shaft connected with the small arm; and a belt wheel transmission mechanism connected with the motor rotates the executive component. The mechanical arm provided by the invention is applicable for loading and unloading digital controlled lathe processing pipe type workpieces, and can be used for loading and unloading workpieces with different diameters, so that the manpower is greatly saved, the time is saved, and the production efficiency is improved.
Description
Technical field
The present invention relates to a kind of manipulator, belongs to field of mechanical technique.
Background technology
At present in field of machining, the processing of workpiece generally requires multiple working procedure, carrying of the workpiece in different inter processes
Artificial operation is needed with handling, particularly on the building-block machine of the work in-process heart, the efficiency of artificial workpiece loading and unloading is low, and operation has
Certain error rate, the precision of location and installation is inadequate, and integrated cost is high.
Lathe handling equipment is a part of automatic machine tool, for efficiency high, time kept in reserve to be short, work-handling
Frequently semi-automatic controlling machine, can significantly increase productivity ratio and mitigate manual labor.
At this stage, the cutting agency of the handling equipment of most of lathe is relatively rough, or feed mechanism has blanking concurrently
Function.
The content of the invention
To solve the deficiencies in the prior art, it is an object of the invention to provide a kind of manipulator, can realize larger space
The automation of interior lathe loading and unloading, improves operating efficiency, and reduces cost reduces manually-operated danger in production process.
In order to realize above-mentioned target, the present invention is adopted the following technical scheme that：
A kind of manipulator, including base, revolution waist, large arm, forearm, bracket and executive item；
The revolution waist is arranged on base, and the motor in base drives revolution waist to rotate on base by transmission mechanism；
Respectively axle takes back the side and forearm for turning waist at the two ends of the large arm, and the motor of large arm end is driven greatly by travelling gear
With the connecting shaft with revolution waist as axis rotation, the motor of forearm end drives forearm with the company with large arm to arm by travelling gear
Spindle is axis rotation；
Respectively axle connects front end and the executive item of forearm at the two ends of the bracket, is built in motor the turning by connection forearm of bracket
Axle rotates bracket, and by the belt wheel transmission mechanism with motor connection executive item is rotated.
Above-mentioned belt wheel transmission mechanism includes transmission belt and two gears, turning between one connection bracket of the gear and forearm
Axle, the rotating shaft between another connection bracket and executive item, two gears of the transmission belt linkage.
The outboard end of above-mentioned executive item is provided with some chelas.
Further, the outer ring of above-mentioned chela is provided with some bracing frames, and the chela is passed through and is arranged on bracing frame end
Baffle plate.Baffle plate is workpiece baffle.
Further, above-mentioned chela is that inner bearing type three refers to chela.Doing three pawls of centripetal centrifugal motion, refer to can pick-and-place workpiece.
Executive item controls inner bearing type three while bracket end rotates and refers to the elastic of chela, completes to workpiece
Clamp loosening up.
Above-mentioned transmission mechanism is planet wheel decelerator, and the planet wheel decelerator includes the outer annular of coaxial line and inner side
Annulus, and some planetary gears being arranged between outer annular and inner side annulus.
Further, above-mentioned planet wheel decelerator and the rotation coaxial line for turning round waist.
The invention has benefit that：A kind of manipulator that the present invention is provided, revolution waist connects with base, by planetary gear
Decelerator completes gyration；Large arm and forearm are realized freely rotating respectively under the driving of individual motor；Using RBR type structures
Bracket each cradle head by independent motor control, realize free-position, and under the driving of individual motor, realize two
The synchronization of secondary rolling is carried out, and is engaged with motion is curved, and realizes concrete operations；Using inner bearing type three refer to chela executive item with
Bracket is connected, and while executive item is realized rotating by motor by belt wheel transmission mechanism, drives three to refer to the elastic of chela by axle,
Realize the pick-and-place of workpiece.
The manipulator that the present invention is provided, it is adaptable to the feeding of lathe in machining tubing workpiece and discharging, can be straight to difference
The workpiece in footpath carries out operation of feeding and discharging, greatly liberates manpower, time-consuming, improve production efficiency.
Description of the drawings
Fig. 1 is a kind of structural representation of manipulator of the present invention.
Fig. 2 is a kind of structural representation of the belt wheel transmission mechanism of manipulator of the present invention.
Fig. 3 is a kind of structural representation of the executive item of manipulator of the present invention.
Fig. 4 is a kind of structural representation of the planet wheel decelerator of manipulator of the present invention.
The implication marked in accompanying drawing is as follows：1st, base, 2, revolution waist, 3, large arm, 4, forearm, 5, bracket, 6, executive item, 7,
Motor, 8, transmission belt, 9, gear, 10, inner bearing type three refer to chela, 11, baffle plate, 12, bracing frame, 13, inner side annulus, 14, outside
Annulus, 15, planetary gear.
Specific embodiment
Make specific introduction to the present invention below in conjunction with the drawings and specific embodiments.
A kind of manipulator, including fixed base 1 on the table, revolution waist 2, large arm 3, forearm 4, bracket 5 and perform
Part 6；The whole manipulator of base 1 plays fixation.
Revolution waist 2 is arranged on base 1, and the motor 7 in base 1 drives revolution waist 2 in base 1 by planet wheel decelerator
On rotate coaxially；Planet wheel decelerator includes the outer annular 14 and inner side annulus 13 of coaxial line, and is arranged on outer annular 14
Some planetary gears 15 and inner side annulus 13 between.Power is provided by motor 7, by planet wheel decelerator adjustment revolution waist 2
Rotary speed and angle, coordinated by 9 numbers of teeth of gear and complete deceleration.
Respectively axle takes back the side and forearm 4 for turning waist 2 at the two ends of large arm 3, and the motor 7 of the end of large arm 3 passes through travelling gear 9
Drive large arm 3 with the connecting shaft with revolution waist 2 as axis rotation, the motor 7 of the end of forearm 4 drives forearm 4 by travelling gear 9
With the connecting shaft with large arm 3 as axis rotation.
Respectively axle connects front end and the executive item 6 of forearm 4 at the two ends of bracket 5, and the motor 7 for being built in bracket 5 is little by connecting
The axis of rotation bracket 5 of arm 4, by the belt wheel transmission mechanism being connected with motor 7 executive item 6 is rotated.So that bracket 5 completes rolling
Turn, curve, rolling movement, the inside configuration of bracket 5 by V belt translation transmit power, twice rolling movement pass through a motor 7
It is driven.
Belt wheel transmission mechanism includes transmission belt 8 and two gears 9, the rotating shaft between a connection bracket 5 of gear 9 and forearm 4,
Rotating shaft between another connection bracket 5 of gear 9 and executive item 6, two gears 9 of linkage of transmission belt 8.
The outboard end of executive item 6 is provided with some inner bearing types three and refers to chela 10, and the outer ring of chela is provided with some bracing frames 12, clamps
Pawl is through the baffle plate 11 for being arranged on the end of bracing frame 12.The driving force of three finger chelas drives executive item 6 by the motor 7 in bracket 5
Rotation is provided.
When using：
Three refer to chela gripping workpiece, large arm 3 and the rotary motion of forearm 4, make workpiece reach specified altitude assignment, and revolution waist 2 completes rotation
Workpiece is transported into specified location, by the rolling of bracket 5 workpiece is positioned on lathe with motion cooperation is curved, three refer to chelas
Unclamp workpiece and realize feeding process.
Three finger chela gripping finished works reach specified location, large arm 3 and the associated movement of forearm 4 under the drive of bracket 5,
Make finished work reach specified altitude assignment, revolution waist 2 rotates, reach workpiece and specify riding position, three refer to chela pine
Open finished work and realize blanking process.
The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should
Understand, the invention is not limited in any way for above-described embodiment, it is all to be obtained by the way of equivalent or equivalent transformation
Technical scheme, all falls within protection scope of the present invention.
Claims (7)
1. a kind of manipulator, it is characterised in that including base, revolution waist, large arm, forearm, bracket and executive item；
The revolution waist is arranged on base, and the motor in base drives revolution waist to rotate on base by transmission mechanism；
Respectively axle takes back the side and forearm for turning waist at the two ends of the large arm, and the motor of large arm end is driven greatly by travelling gear
With the connecting shaft with revolution waist as axis rotation, the motor of forearm end drives forearm with the company with large arm to arm by travelling gear
Spindle is axis rotation；
Respectively axle connects front end and the executive item of forearm at the two ends of the bracket, is built in motor the turning by connection forearm of bracket
Axle rotates bracket, and by the belt wheel transmission mechanism with motor connection executive item is rotated.
2. a kind of manipulator according to claim 1, it is characterised in that the belt wheel transmission mechanism includes transmission belt and two
Individual gear, the rotating shaft between one connection bracket of the gear and forearm, the rotating shaft between another connection bracket and executive item is described
Transmission belt two gears of linkage.
3. a kind of manipulator according to claim 1, it is characterised in that the outboard end of the executive item is provided with some pincers
Pawl.
4. a kind of manipulator according to claim 3, it is characterised in that the outer ring of the chela is provided with some bracing frames,
The chela is through the baffle plate for being arranged on bracing frame end.
5. a kind of manipulator according to claim 3, it is characterised in that the chela is that inner bearing type three refers to chela.
6. a kind of manipulator according to claim 1, it is characterised in that the transmission mechanism is planet wheel decelerator, institute
Outer annular and inner side annulus of the planet wheel decelerator including coaxial line is stated, and is arranged between outer annular and inner side annulus
Some planetary gears.
7. a kind of manipulator according to claim 6, it is characterised in that the rotation of the planet wheel decelerator and revolution waist
Coaxial line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610876570.6A CN106625764A (en) | 2016-10-09 | 2016-10-09 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610876570.6A CN106625764A (en) | 2016-10-09 | 2016-10-09 | Mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106625764A true CN106625764A (en) | 2017-05-10 |
Family
ID=58854262
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610876570.6A Pending CN106625764A (en) | 2016-10-09 | 2016-10-09 | Mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106625764A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107081434A (en) * | 2017-06-19 | 2017-08-22 | 杨明学 | A kind of numerical-control double-station automatic lathe for bearing rings |
| CN108188475A (en) * | 2017-12-28 | 2018-06-22 | 东莞市恒亚电子科技有限公司 | A kind of robot board separator |
| CN108214535A (en) * | 2017-12-29 | 2018-06-29 | 南京理工大学 | A kind of Synchronization Control manipulator |
| CN108974918A (en) * | 2018-07-27 | 2018-12-11 | 江南大学 | A kind of mobile robot carried for cargo |
| CN109531621A (en) * | 2018-11-20 | 2019-03-29 | 东台市海邦电气有限公司 | A kind of crawl rocker arm robot caterpillar teeth wheel rotating mechanism |
| CN112917218A (en) * | 2021-01-26 | 2021-06-08 | 杭州泛亚卫浴股份有限公司 | Linkage device for quickly clamping product and operation method |
Citations (10)
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|---|---|---|---|---|
| JP2001030190A (en) * | 1999-07-21 | 2001-02-06 | Nachi Fujikoshi Corp | Conveying device |
| JP2010069557A (en) * | 2008-09-17 | 2010-04-02 | Yaskawa Electric Corp | Hand and its operation method |
| CN204019536U (en) * | 2014-08-20 | 2014-12-17 | 孙剑军 | A kind of six axis robot |
| CN204278012U (en) * | 2014-11-26 | 2015-04-22 | 深圳控石智能系统有限公司 | A kind of six axle joint industrial robots |
| CN204505242U (en) * | 2015-02-09 | 2015-07-29 | 山东星科智能科技股份有限公司 | A kind of industrial machinery arm |
| CN204658445U (en) * | 2015-06-09 | 2015-09-23 | 聊城鑫泰机床有限公司 | A kind of Industrial robots Mechanical mechanism of six degree of freedom |
| CN204712049U (en) * | 2015-05-28 | 2015-10-21 | 中山市鸿之远工业机器人有限公司 | A kind of Six-DOF industrial robot |
| CN105881529A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Manipulator assembly of industrial robot |
| CN105904433A (en) * | 2016-05-28 | 2016-08-31 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot capable of moving and standing |
| CN105922281A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Universal manipulator assembly of light-weight six-axis robot |
-
2016
- 2016-10-09 CN CN201610876570.6A patent/CN106625764A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001030190A (en) * | 1999-07-21 | 2001-02-06 | Nachi Fujikoshi Corp | Conveying device |
| JP2010069557A (en) * | 2008-09-17 | 2010-04-02 | Yaskawa Electric Corp | Hand and its operation method |
| CN204019536U (en) * | 2014-08-20 | 2014-12-17 | 孙剑军 | A kind of six axis robot |
| CN204278012U (en) * | 2014-11-26 | 2015-04-22 | 深圳控石智能系统有限公司 | A kind of six axle joint industrial robots |
| CN204505242U (en) * | 2015-02-09 | 2015-07-29 | 山东星科智能科技股份有限公司 | A kind of industrial machinery arm |
| CN204712049U (en) * | 2015-05-28 | 2015-10-21 | 中山市鸿之远工业机器人有限公司 | A kind of Six-DOF industrial robot |
| CN204658445U (en) * | 2015-06-09 | 2015-09-23 | 聊城鑫泰机床有限公司 | A kind of Industrial robots Mechanical mechanism of six degree of freedom |
| CN105881529A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Manipulator assembly of industrial robot |
| CN105904433A (en) * | 2016-05-28 | 2016-08-31 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot capable of moving and standing |
| CN105922281A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Universal manipulator assembly of light-weight six-axis robot |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107081434A (en) * | 2017-06-19 | 2017-08-22 | 杨明学 | A kind of numerical-control double-station automatic lathe for bearing rings |
| CN108188475A (en) * | 2017-12-28 | 2018-06-22 | 东莞市恒亚电子科技有限公司 | A kind of robot board separator |
| CN108214535A (en) * | 2017-12-29 | 2018-06-29 | 南京理工大学 | A kind of Synchronization Control manipulator |
| CN108214535B (en) * | 2017-12-29 | 2020-12-04 | 南京理工大学 | Synchronous control manipulator |
| CN108974918A (en) * | 2018-07-27 | 2018-12-11 | 江南大学 | A kind of mobile robot carried for cargo |
| CN109531621A (en) * | 2018-11-20 | 2019-03-29 | 东台市海邦电气有限公司 | A kind of crawl rocker arm robot caterpillar teeth wheel rotating mechanism |
| CN112917218A (en) * | 2021-01-26 | 2021-06-08 | 杭州泛亚卫浴股份有限公司 | Linkage device for quickly clamping product and operation method |
| CN112917218B (en) * | 2021-01-26 | 2022-05-03 | 杭州泛亚卫浴股份有限公司 | Linkage device for quickly clamping product and operation method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170510 |