CN108311661A - A kind of vertical connecting rod servo taking mechanical hand arm - Google Patents
A kind of vertical connecting rod servo taking mechanical hand arm Download PDFInfo
- Publication number
- CN108311661A CN108311661A CN201810329453.7A CN201810329453A CN108311661A CN 108311661 A CN108311661 A CN 108311661A CN 201810329453 A CN201810329453 A CN 201810329453A CN 108311661 A CN108311661 A CN 108311661A
- Authority
- CN
- China
- Prior art keywords
- driving device
- fuselage
- connecting rod
- driving
- vertical connecting
- 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
- 230000007246 mechanism Effects 0.000 claims abstract description 35
- 238000009434 installation Methods 0.000 abstract description 2
- 239000011133 lead Substances 0.000 description 7
- 238000004512 die casting Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 239000000956 alloy Substances 0.000 description 2
- 229910045601 alloy Inorganic materials 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- FYYHWMGAXLPEAU-UHFFFAOYSA-N Magnesium Chemical compound [Mg] FYYHWMGAXLPEAU-UHFFFAOYSA-N 0.000 description 1
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 description 1
- HCHKCACWOHOZIP-UHFFFAOYSA-N Zinc Chemical compound [Zn] HCHKCACWOHOZIP-UHFFFAOYSA-N 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000001746 injection moulding Methods 0.000 description 1
- 239000011777 magnesium Substances 0.000 description 1
- 229910052749 magnesium Inorganic materials 0.000 description 1
- 238000005058 metal casting Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 229910000648 terne Inorganic materials 0.000 description 1
- 239000011135 tin Substances 0.000 description 1
- 239000011701 zinc Substances 0.000 description 1
- 229910052725 zinc Inorganic materials 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D17/00—Pressure die casting or injection die casting, i.e. casting in which the metal is forced into a mould under high pressure
- B22D17/20—Accessories: Details
- B22D17/2084—Manipulating or transferring devices for evacuating cast pieces
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to manipulator arm arts, more particularly to a kind of vertical connecting rod servo taking mechanical hand arm, which includes platform, and fuselage is provided on the platform, fuselage connects mechanical arm by driving lever with follower lever, the mechanical arm connects free end, and the free end includes rotating mechanism and removal mechanism, and structure of the invention is simple, it is directly operated by controller, equipment that is simple and convenient, and adapting to different model, installation site are also comparatively free.
Description
Technical field
The present invention relates to manipulator arm arts, and in particular to a kind of vertical connecting rod servo taking mechanical hand arm.
Background technology
Die casting is a kind of metal casting technique, its main feature is that applying high pressure to molten metal using dies cavity.Mold
Be typically to be made of higher strength alloys, this process some similar to injection molding.Most of die casting casting are all
It is nonferrous, such as zinc, copper, aluminium, magnesium, lead, tin and terne metal and their alloy.According to the difference of die casting type,
It needs to use cold-chamber die casting machine or hot chamber machine.
When cast product is higher than die casting machine brother woods column and with the case where loose core of oil cylinder, existing manipulator can not expire
The job requirements of sufficient both of these case, so being badly in need of a kind of manipulator disclosure satisfy that both work requirements currently on the market.
Invention content
Above-mentioned to solve the problems, such as, the present invention provides a kind of vertical connecting rod servo taking mechanical hand arm.
A kind of vertical connecting rod servo taking mechanical hand arm, including platform, described platform one end are provided with first driving means
With a controller, a lead screw is provided on the output shaft of first driving means, lead screw matches with the fuselage on platform
It closes, the second driving device is provided in the fuselage, the output shaft of the second driving device penetrates fuselage side and connects a master
One end of lever, driving lever same lateral position is also set up there are one follower lever on fuselage, and one end of follower lever is hinged on fuselage, institute
The other end for stating driving lever is fixed on the end of mechanical arm by hinge, and one end of follower lever is also by being hingedly connected at mechanical arm
On, the fuselage, driving lever, follower lever and mechanical arm constitute a four-bar mechanism, and third drive is provided in the mechanical arm
Dynamic device, one end far from driving lever is provided with free end on mechanical arm, and the third driving device connects free end, it is described from
Include rotating mechanism and removal mechanism by end, removal mechanism is fixed in the shaft of rotating mechanism, and rotating mechanism includes 4 wheel driven
Dynamic device, the piston of the four-drive device connect shaft by connecting rod, the removal mechanism include the 5th driving device and
Handgrip, the first driving means, the second driving device, third driving device, four-drive device and the 5th driving device point
Controller is not electrically connected it.
Further scheme as the present invention：The first driving means are servo motor.
Further scheme as the present invention：There are one limited block, machines for the position setting of driving lever both sides on fuselage
There are one chamber doors for the other side setting of body.
Further scheme as the present invention：The four-bar mechanism is double rocker mechanism.
Further scheme as the present invention：The four-drive device is rotary cylinder.
Further scheme as the present invention：5th driving device is handgrip cylinder.
Beneficial effects of the present invention：The structure of the present invention is simple, is directly operated by controller, simple and convenient, passes through four
Match resultant motion between linkage and each driving device, disclosure satisfy that cast product higher than die casting machine brother woods column and with oil
The case where cylinder core pulling, efficiently solve practical problem.
Description of the drawings
Structural schematic diagram when Fig. 1 is a kind of vertical connecting rod servo taking mechanical hand arm pickup of the invention.
Fig. 2 is structural schematic diagram when a kind of vertical connecting rod servo taking mechanical hand arm of the present invention puts part.
Fig. 3 is a kind of vertical connecting rod servo taking mechanical hand arm front view of the present invention.
Fig. 4 is a kind of structural schematic diagram of vertical connecting rod servo taking mechanical hand arm of the present invention.
Fig. 5 is a kind of structural schematic diagram of the free end of vertical connecting rod servo taking mechanical hand arm of the present invention.
Fig. 6 is a kind of postrotational structural schematic diagram in free end of vertical connecting rod servo taking mechanical hand arm of the present invention.
Fig. 7 is a kind of rearview of the free end of vertical connecting rod servo taking mechanical hand arm of the present invention.
In figure：1- platforms；2- fuselages；3- mechanical arms；The free ends 4-；401- rotating mechanisms；402- removal mechanisms.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein only to explain the present invention, not
For limiting the present invention.
As shown in Fig. 1-Fig. 7, a kind of vertical connecting rod servo taking mechanical hand arm, including platform 1,1 one end of the platform are set
First driving means and a controller are equipped with, the first driving means are electrically connected controller, and the first driving means are to watch
Motor is taken, a lead screw is provided on the output shaft of first driving means, lead screw is matched with the fuselage 2 of installation on the platform 1,
Lead screw is set to rotate by first driving means, lead screw drives fuselage 2 to slide back and forth on the platform 1, and the is provided in the fuselage 2
Two driving devices, second driving device are electrically connected controller, and the output shaft of the second driving device penetrates fuselage side and company
Connect one end of a driving lever, driving lever homonymy also sets up that there are one follower levers on fuselage 2, and one end of follower lever is hinged on fuselage
On 2, there are one limited blocks for the position setting of driving lever both sides on fuselage 2, make driving lever can only be in fixed and angle model
Interior rotation is enclosed, there are one chamber door, the other end of the driving lever is fixed on mechanical arm 3 by hinge for the other side setting of fuselage 2
End, one end of follower lever is also by being hingedly connected on mechanical arm 3, fuselage 2, driving lever, follower lever and the machinery
Arm constitutes a four-bar mechanism, and the four-bar mechanism is double rocker mechanism, and third driving device is provided in the mechanical arm 3,
Third driving device is electrically connected controller, and one end far from driving lever is provided with free end 4, the third driving on mechanical arm 3
Device connects free end 4, and under the action of third driving device, free end can be vertical with mechanical arm with rotated ninety degrees, described
Free end includes rotating mechanism 401 and removal mechanism 402, and removal mechanism 402 is fixed in the shaft of rotating mechanism 401, rotation
Mechanism 401 includes four-drive device, and four-drive device is electrically connected controller, and the four-drive device is rotary cylinder,
The piston of the four-drive device connects shaft by connecting rod, so that shaft is rotated by moving up and down for piston, fixed
Removal mechanism 402 in shaft also rotates therewith, and the removal mechanism 402 includes the 5th driving device and handgrip, and described the
Five driving devices are electrically connected control cabinet, and the 5th driving device is handgrip cylinder, and the 5th driving device connection handgrip simultaneously controls
Its opening and closing movement.
The operation principle of the present invention：Worker controls the first to the 5th driving device by controller and has a machine in operation, and passes through
The co-operation of fuselage and mechanical arm makes removal mechanism 402 reach the position of workpiece, then by removal mechanism 402 by workpiece from mold
On remove, the second driving device work keep mechanical arm 3 perpendicular to the ground, third driving device work make free end 4 rotate 90
Spend parallel to the ground, the work of four-drive device on rotating mechanism 401 makes hand grab rotation, and after putting workpiece well, the 5th driving fills
It sets work release hand to grab, completes a working cycles.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modification, equivalent replacement or improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.
Claims (6)
1. a kind of vertical connecting rod servo taking mechanical hand arm, it is characterised in that：Including platform, described platform one end is provided with first
Driving device and a controller, are provided with a lead screw on the output shaft of first driving means, lead screw on platform
Fuselage matches, and the second driving device is provided in the fuselage, and the output shaft of the second driving device penetrates fuselage side and company
Connect one end of a driving lever, driving lever same lateral position also sets up that there are one follower levers on fuselage, and one end of follower lever is hinged on
On fuselage, the other end of the driving lever is fixed on the end of mechanical arm by hinge, and one end of follower lever connects also by hinge
It connects on the robotic arm, the fuselage, driving lever, follower lever and mechanical arm constitute a four-bar mechanism, are set in the mechanical arm
It is equipped with third driving device, one end far from driving lever is provided with free end on mechanical arm, and the third driving device connection is certainly
By holding, the free end includes rotating mechanism and removal mechanism, and removal mechanism is fixed in the shaft of rotating mechanism, rotating mechanism
Including four-drive device, the piston of the four-drive device connects shaft by connecting rod, and the removal mechanism includes the 5th
Driving device and handgrip, the first driving means, the second driving device, third driving device, four-drive device and the 5th
Driving device is electrically connected controller.
2. a kind of vertical connecting rod servo taking mechanical hand arm according to claim 1, it is characterised in that：First driving
Device is servo motor.
3. a kind of vertical connecting rod servo taking mechanical hand arm according to claim 1, it is characterised in that：On fuselage actively
There are one limited blocks for the position setting of bar both sides, and there are one chamber doors for the other side setting of fuselage.
4. a kind of vertical connecting rod servo taking mechanical hand arm according to claim 1, it is characterised in that：The four-bar mechanism
For double rocker mechanism.
5. a kind of vertical connecting rod servo taking mechanical hand arm according to claim 1, it is characterised in that：4th driving
Device is rotary cylinder.
6. a kind of vertical connecting rod servo taking mechanical hand arm according to claim 1, it is characterised in that：5th driving
Device is handgrip cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810329453.7A CN108311661A (en) | 2018-04-13 | 2018-04-13 | A kind of vertical connecting rod servo taking mechanical hand arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810329453.7A CN108311661A (en) | 2018-04-13 | 2018-04-13 | A kind of vertical connecting rod servo taking mechanical hand arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108311661A true CN108311661A (en) | 2018-07-24 |
Family
ID=62897464
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810329453.7A Pending CN108311661A (en) | 2018-04-13 | 2018-04-13 | A kind of vertical connecting rod servo taking mechanical hand arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108311661A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110202112A (en) * | 2019-07-04 | 2019-09-06 | 佛山市恩仕自动化设备有限公司 | Die casting knockout machine |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201058432Y (en) * | 2007-07-13 | 2008-05-14 | 肖永祥 | Hot type workpiece taking machine |
| CN201172102Y (en) * | 2008-01-18 | 2008-12-31 | 肖永祥 | Pick-off machine |
| CN203304525U (en) * | 2013-06-07 | 2013-11-27 | 宁波市北仑恒誉自动化科技有限公司 | Servo extractor |
| CN103418770A (en) * | 2012-05-24 | 2013-12-04 | 东莞市菱锐机械有限公司 | Reversed take-out machine |
| CN203409775U (en) * | 2013-06-19 | 2014-01-29 | 东莞市松庆自动化设备有限公司 | A parallel four-bar linkage linear pick-up mechanism |
| CN203409776U (en) * | 2013-06-19 | 2014-01-29 | 东莞市松庆自动化设备有限公司 | Parallel four-link linear extracting device |
| CN203437617U (en) * | 2013-06-29 | 2014-02-19 | 台州市宗拓自动化设备有限公司 | Electric part-taking machine |
| CN103949606A (en) * | 2014-04-07 | 2014-07-30 | 上海震界自动化设备制造有限公司 | Vertical multi-connecting-rod product picking machine |
| CN204819496U (en) * | 2015-07-03 | 2015-12-02 | 王根发 | Full -automatic industrial machinery hand |
| CN106041018A (en) * | 2016-07-21 | 2016-10-26 | 苏州金实创自动化有限公司 | Link rod type die-cast workpiece extracting device and die-casting machine |
| CN205704180U (en) * | 2016-05-23 | 2016-11-23 | 深圳市鑫台铭机械设备有限公司 | A kind of extractor |
| CN208600683U (en) * | 2018-04-13 | 2019-03-15 | 东莞市辉胜自动化设备有限公司 | A vertical link servo pick-up robotic arm |
-
2018
- 2018-04-13 CN CN201810329453.7A patent/CN108311661A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201058432Y (en) * | 2007-07-13 | 2008-05-14 | 肖永祥 | Hot type workpiece taking machine |
| CN201172102Y (en) * | 2008-01-18 | 2008-12-31 | 肖永祥 | Pick-off machine |
| CN103418770A (en) * | 2012-05-24 | 2013-12-04 | 东莞市菱锐机械有限公司 | Reversed take-out machine |
| CN203304525U (en) * | 2013-06-07 | 2013-11-27 | 宁波市北仑恒誉自动化科技有限公司 | Servo extractor |
| CN203409775U (en) * | 2013-06-19 | 2014-01-29 | 东莞市松庆自动化设备有限公司 | A parallel four-bar linkage linear pick-up mechanism |
| CN203409776U (en) * | 2013-06-19 | 2014-01-29 | 东莞市松庆自动化设备有限公司 | Parallel four-link linear extracting device |
| CN203437617U (en) * | 2013-06-29 | 2014-02-19 | 台州市宗拓自动化设备有限公司 | Electric part-taking machine |
| CN103949606A (en) * | 2014-04-07 | 2014-07-30 | 上海震界自动化设备制造有限公司 | Vertical multi-connecting-rod product picking machine |
| CN204819496U (en) * | 2015-07-03 | 2015-12-02 | 王根发 | Full -automatic industrial machinery hand |
| CN205704180U (en) * | 2016-05-23 | 2016-11-23 | 深圳市鑫台铭机械设备有限公司 | A kind of extractor |
| CN106041018A (en) * | 2016-07-21 | 2016-10-26 | 苏州金实创自动化有限公司 | Link rod type die-cast workpiece extracting device and die-casting machine |
| CN208600683U (en) * | 2018-04-13 | 2019-03-15 | 东莞市辉胜自动化设备有限公司 | A vertical link servo pick-up robotic arm |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110202112A (en) * | 2019-07-04 | 2019-09-06 | 佛山市恩仕自动化设备有限公司 | Die casting knockout machine |
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