CN108214545A - Linear mechanical hand mechanical arm - Google Patents
Linear mechanical hand mechanical arm Download PDFInfo
- Publication number
- CN108214545A CN108214545A CN201711477529.2A CN201711477529A CN108214545A CN 108214545 A CN108214545 A CN 108214545A CN 201711477529 A CN201711477529 A CN 201711477529A CN 108214545 A CN108214545 A CN 108214545A
- Authority
- CN
- China
- Prior art keywords
- actuating arm
- arm
- drive source
- wobble drive
- clip
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of linear mechanical hand mechanical arms, it includes ontology, wobble drive source, actuating arm group and the clip fixing piece for connecting clip；The wobble drive source is mounted on ontology；The actuating arm group includes left actuating arm and right actuating arm, and the left actuating arm and the right actuating arm are connected respectively with the wobble drive source, and when being acted so as to the wobble drive source, the wobble drive source drives left actuating arm and right driving arm swing；The clip fixing piece is connected with the left actuating arm and the right actuating arm.The present invention can arbitrarily adjust the swing angle of clip during the work time, and the convenient rotation angle during gripping puts product, ensures full-automatic progress, reduce manual intervention.
Description
Technical field
The present invention relates to a kind of linear mechanical hand mechanical arms.
Background technology
At present, " tooth " of the hard alloy as industry, digital cuttings are the main tools for processing other materials, and with
The development of the rapid development of Chinese industrial, particularly mechanical industry, China become one manufacture big country, in order to realize efficiently,
High-quality production, one side numerically-controlled machine tool just accelerate to replace traditional machine tool, with new processes such as vehicle generation mill, High-speed machining, DRY CUTTINGs
It is used widely；On the one hand, people important application of the superhard cutter in mechanical processing study for a long period of time and
Exploitation, and acquire a great achievement, some superhard cutters have been applied to the materials such as metal, ceramics, stone material, timber, plastics, rubber at present
The machining field of material and various composite materials.Since the new century, with domestic and international computer numerical control machining center (CNC)
The fast development of technology and general use of numerically-controlled machine tool, it can be achieved that high efficiency, high stability, the long-life processing superhard knife
Tool material is used widely, and improves China's cutter class, breaks external monopolization, reduces machining cost, improves labour life
Efficiency is produced, meet and adapts to requirement of the country to machinery manufacturing industry development, especially promotes aerospace, automobile making, energy ring
The fast development of the industries such as guarantor makes China be changed from manufacture big country to manufacturing power, promotes the scientific and technological content of China's manufacture product
It has a very important significance.
National all trades and professions are higher and higher to the precision of component of machine, and the numerical control device of application is more and more, automation
Degree is higher and higher, also higher and higher to the use and dimension precision requirement of digital cuttings, and the use scope of conventional blades will
More and more narrow, the industrial upgrading of digital cuttings manufacturer is imperative, thus each digital cuttings manufacturer for high-performance,
The input of high-precision hard alloy numerical control blade production line is also increasing, introduction overseas equipment maintenance, repair, zero
Part replace etc. there is also not in time, the period is long, price the shortcomings of, influence the production efficiency of equipment.In the case, such as
What reduces input, reduces cost, and can produce the high-precision digital cuttings of high quality as our emphasis.
Carbide cutter tool digital cuttings blank refers to put into manipulator automatic clamping by the compacting of electric direct-drive forcing press
Disk, the blank extruded by electric direct-drive forcing press precision, has many advantages, such as that apparent mass is good and dimensional accuracy is high.Actual production
In the process, the variously-shaped specification product different with groove profile can be suppressed by different molds.Electric direct-drive forcing press is equipped with
The raising for expanding the also integral level of surface China hard alloy industry in the automatic production line market of linear Quick mechanical hand.
It is equipped with from the fast linear manipulator ground, has automatic clamping (positive pressure gripping, negative-pressure vacuum are drawn), speed is up to
2 meter per seconds, automatic substance monitoring, adjust automatically substance, waste product automatic rejection are highly stable.Automatic feed bin technology is employed, it is raw
High beat is realized in production, unmanned.
During work, the gripping of linear mechanical hand-driven mechanism arm suppresses blank, by driven by program mechanical arm rotation angle,
Make product placement angle reasonable.
Since existing linear mechanical hand mechanical arm is using pneumatic type, it is impossible to angle-adjustable during the work time,
An angle can only be fixed.Therefore putting product in compacting needs rotation angle during gripping must use artificial gripping to put
Disk, it is very inconvenient.
Invention content
The technical problems to be solved by the invention are the defects of overcoming the prior art, provide a kind of linear mechanical mobile phone tool
Arm, it can arbitrarily adjust the swing angle of clip during the work time, and the convenient rotation angle during gripping puts product,
Ensure full-automatic progress, reduce manual intervention.
In order to solve the above-mentioned technical problem, the technical scheme is that：A kind of linear mechanical hand mechanical arm, it includes：
Ontology；
Wobble drive source, the wobble drive source are mounted on ontology；
Actuating arm group, the actuating arm group include left actuating arm and right actuating arm, the left actuating arm and the right driving
Arm is connected respectively with the wobble drive source, and when being acted so as to the wobble drive source, the wobble drive source drives left driving
Arm and right driving arm swing；
For connecting the clip fixing piece of clip, the clip fixing piece and the left actuating arm and the right actuating arm phase
Even.
A kind of concrete structure in wobble drive source is further provided, the wobble drive source is the servo with rotary shaft
Direct driving motor, the rotary shaft stretches out the both sides of servo direct driving motor respectively, and extension is respectively left-handed roller end
With dextral shaft end, the left actuating arm is connected with the left-handed roller end, the right actuating arm and the dextral shaft
End is connected.
Further, linear mechanical hand mechanical arm further includes left actuating arm connector, and the left actuating arm connector, which is fixed, to be connected
It is connected on ontology, the left actuating arm is swingably sleeved on left actuating arm connector.
Further, one end of the clip fixing piece is connected with the left actuating arm, the other end of the clip fixing piece
It is connected with the right actuating arm, the connecting hole for connecting clip is provided in the middle part of the clip fixing piece.
Further, the left actuating arm and the right actuating arm are 270 ° around the swing angle of its oscillation center.
After employing above-mentioned technical proposal, the present invention has following advantageous effect：
1st, the present invention can drive left actuating arm and right driving arm swing by wobble drive source, so as to which clip be driven to fix
Part is swung, and so as to drive clip swings, after clip grips product, can swing product with rotation angle.
2nd, the present invention further employs servo direct driving motor, which may be used military project rank, angle
Precision can reach ± 5 ', and precision is higher.
Description of the drawings
Fig. 1 is the assembling explosive view of the linear mechanical hand mechanical arm of the present invention；
Fig. 2 is the structure sectional view of the clip fixing piece of the present invention；
Fig. 3 is the structure diagram of the servo direct driving motor of the present invention.
Specific embodiment
In order that the present invention can be more clearly and readily understood, it is right below according to specific embodiment and with reference to attached drawing
The present invention is described in further detail.
As shown in Figures 1 to 3, a kind of linear mechanical hand mechanical arm, it includes：
Ontology 1；
Wobble drive source, the wobble drive source are mounted on ontology 1；
Actuating arm group, the actuating arm group include left actuating arm 3 and right actuating arm 5, the left actuating arm 3 and the right drive
Swing arm 5 is connected respectively with the wobble drive source, and when being acted so as to the wobble drive source, the wobble drive source drives left drive
Swing arm 3 and right actuating arm 5 are swung；
For connecting the clip fixing piece 4 of clip, the clip fixing piece 4 and the left actuating arm 3 and the right driving
Arm 5 is connected.
The wobble drive source is the servo direct driving motor 6 with rotary shaft, and the rotary shaft stretches out servo direct driving respectively
Both sides of motor 6, and extension is respectively left-handed roller end 61 and dextral shaft end 62, the left actuating arm 3 with
The left-handed roller end 61 is connected, and the right actuating arm 5 is connected with the dextral shaft end 62.The present invention further uses
Servo direct driving motor 6, the servo direct driving motor 6 may be used military project rank, and angle precision can reach ± 5 ', precision compared with
It is high.
Linear mechanical hand mechanical arm further includes left actuating arm connector 2, and the left actuating arm connector 2 is fixedly connected on this
On body 1, the left actuating arm 3 is swingably sleeved on left actuating arm connector 2.
One end of the clip fixing piece 4 is connected with the left actuating arm 3, the other end of the clip fixing piece 4 and institute
It states right actuating arm 5 to be connected, the middle part of the clip fixing piece 4 is provided with the connecting hole 41 for connecting clip.
The left actuating arm 3 and the right actuating arm 5 are 270 ° around the swing angle of its oscillation center.
The operation principle of the present invention is as follows：
The present invention can drive left actuating arm 3 and right actuating arm 5 to swing by wobble drive source, so as to which clip be driven to fix
Part 4 is swung, and so as to drive clip swings, after clip grips product, can swing product with rotation angle.
Particular embodiments described above, pair present invention solves the technical problem that, technical solution and advantageous effect carry out
It is further described, it should be understood that the above is only a specific embodiment of the present invention, is not limited to this
Invention, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in this hair
Within bright protection domain.
Claims (5)
1. a kind of linear mechanical hand mechanical arm, which is characterized in that it includes：
Ontology (1)；
Wobble drive source, the wobble drive source are mounted on ontology (1)；
Actuating arm group, the actuating arm group include left actuating arm (3) and right actuating arm (5), the left actuating arm (3) and the right side
Actuating arm (5) is connected respectively with the wobble drive source, and when being acted so as to the wobble drive source, the wobble drive source drives
Left actuating arm (3) and right actuating arm (5) are swung；
For connecting the clip fixing piece (4) of clip, the clip fixing piece (4) and the left actuating arm (3) and the right drive
Swing arm (5) is connected.
2. linear mechanical hand mechanical arm according to claim 1, it is characterised in that：The wobble drive source is with rotation
The servo direct driving motor (6) of axis, the rotary shaft stretches out the both sides of servo direct driving motor (6) respectively, and extension is distinguished
For left-handed roller end (61) and dextral shaft end (62), the left actuating arm (3) and left-handed roller end (61) phase
Even, the right actuating arm (5) is connected with the dextral shaft end (62).
3. linear mechanical hand mechanical arm according to claim 2, it is characterised in that：Left actuating arm connector (2) is further included,
The left actuating arm connector (2) is fixedly connected on ontology (1), and the left actuating arm (3) is swingably sleeved on left driving
On arm connector (2).
4. linear mechanical hand mechanical arm according to claim 1, it is characterised in that：One end of the clip fixing piece (4)
It is connected with the left actuating arm (3), the other end of the clip fixing piece (4) is connected with the right actuating arm (5), the clip
The connecting hole (41) for connecting clip is provided in the middle part of fixing piece (4).
5. linear mechanical hand mechanical arm according to claim 1, it is characterised in that：The left actuating arm (3) and the right side
Actuating arm (5) is 270 ° around the swing angle of its oscillation center.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711477529.2A CN108214545A (en) | 2017-12-29 | 2017-12-29 | Linear mechanical hand mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711477529.2A CN108214545A (en) | 2017-12-29 | 2017-12-29 | Linear mechanical hand mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108214545A true CN108214545A (en) | 2018-06-29 |
Family
ID=62646903
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711477529.2A Pending CN108214545A (en) | 2017-12-29 | 2017-12-29 | Linear mechanical hand mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108214545A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112720575A (en) * | 2020-12-19 | 2021-04-30 | 安徽涌诚机械有限公司 | Intelligent four-axis shell of ultra-precise robot and machining process thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2564993A1 (en) * | 2011-09-01 | 2013-03-06 | Kabushiki Kaisha Yaskawa Denki | Robot having a swingable arm or an end effector actuated by a hypoid gear |
| CN204640240U (en) * | 2015-03-17 | 2015-09-16 | 南京理工大学 | A kind of Apery manipulator arm |
| CN205889243U (en) * | 2016-05-19 | 2017-01-18 | 北京自动化控制设备研究所 | People's arm is imitated to modularization |
| CN206317080U (en) * | 2016-11-30 | 2017-07-11 | 厦门理工学院 | A kind of infant's treatment type manipulator |
| CN206690130U (en) * | 2017-04-27 | 2017-12-01 | 浙江长兴平适尔机器人科技有限公司 | Double bracket six-joint robots |
-
2017
- 2017-12-29 CN CN201711477529.2A patent/CN108214545A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2564993A1 (en) * | 2011-09-01 | 2013-03-06 | Kabushiki Kaisha Yaskawa Denki | Robot having a swingable arm or an end effector actuated by a hypoid gear |
| CN102962847A (en) * | 2011-09-01 | 2013-03-13 | 株式会社安川电机 | Robot |
| CN204640240U (en) * | 2015-03-17 | 2015-09-16 | 南京理工大学 | A kind of Apery manipulator arm |
| CN205889243U (en) * | 2016-05-19 | 2017-01-18 | 北京自动化控制设备研究所 | People's arm is imitated to modularization |
| CN206317080U (en) * | 2016-11-30 | 2017-07-11 | 厦门理工学院 | A kind of infant's treatment type manipulator |
| CN206690130U (en) * | 2017-04-27 | 2017-12-01 | 浙江长兴平适尔机器人科技有限公司 | Double bracket six-joint robots |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112720575A (en) * | 2020-12-19 | 2021-04-30 | 安徽涌诚机械有限公司 | Intelligent four-axis shell of ultra-precise robot and machining process thereof |
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| 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: 20180629 |