CN112692625A - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
- Publication number
- CN112692625A CN112692625A CN201911010229.2A CN201911010229A CN112692625A CN 112692625 A CN112692625 A CN 112692625A CN 201911010229 A CN201911010229 A CN 201911010229A CN 112692625 A CN112692625 A CN 112692625A
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- CN
- China
- Prior art keywords
- cutter
- gear shaft
- spring
- plate
- upper cover
- 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
- 210000000078 claw Anatomy 0.000 claims abstract description 33
- 230000000903 blocking effect Effects 0.000 claims description 9
- 230000000694 effects Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
Images
Classifications
-
- 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
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/15513—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling the tool being taken from a storage device and transferred to a tool holder by means of transfer devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a manipulator, which relates to the field of mechanical automation and comprises a body, wherein one end of the body is integrally formed with a limiting block, the other end of the body is provided with two cutter locking plates, and the tail ends of the cutter locking plates are fixedly provided with cutter claws; the body is fixedly connected with an upper cover through a limiting block, the front end of the cutter locking plate is positioned between the body and the upper cover, a gear shaft hole is formed in the position, close to the limiting block, of the cutter locking plate, a gear shaft penetrates through the gear shaft hole, and the diameter of the gear shaft hole is larger than that of the gear shaft; a rotating shaft penetrates through the middle part of the cutter locking plate; a bar-shaped block is fixedly arranged on the body and positioned between the two knife locking plates, a horizontal spring hole is formed in the bar-shaped block, and a spring penetrates through the spring hole; a guide groove is formed in the limiting block, a top plate penetrates through the guide groove, and symmetrical first inclined planes are formed in two sides of the front end of the top plate; the end of the top plate is connected with a push plate, the push plate is connected with an oil cylinder, and the oil cylinder is fixed on the upper cover. The manipulator provided by the invention enables the cutter claw to be in an open state before the cutter is grabbed, and avoids damage to the cutter due to hard contact.
Description
Technical Field
The invention relates to the technical field of mechanical automation, in particular to a manipulator.
Background
The tool changing device of the existing tool magazine needs to adopt a manipulator to clamp and move a tool, so that the tool changing action is assisted to be completed. The manipulator is provided with the tool claw for clamping the tool, however, the traditional manipulator enables the tool claw to be closed through the spring in a non-working state, when the manipulator is used, the tool claw is opened through the hard contact of the tool claw and the tool, the tool is clamped through the spring force, however, the tool claw and the tool are extremely easy to damage through the hard contact mode, and the practicability is poor.
Disclosure of Invention
The invention aims to provide a manipulator, which solves the problems in the prior art, so that a tool claw is in an open state before the tool is grabbed, and the damage to a tool caused by hard contact is avoided.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a manipulator which comprises a body, wherein one end of the body is integrally formed with a limiting block with a rectangular cross section, the other end of the body is provided with two symmetrically arranged knife locking plates, the tail ends of the knife locking plates are positioned outside the body, and the tail ends of the knife locking plates are fixedly provided with a knife claw; the body is fixedly connected with an upper cover through the limiting block, the front end of the cutter locking plate is positioned between the body and the upper cover, a gear shaft hole is formed in the position, close to the limiting block, of the cutter locking plate, a gear shaft penetrates through the gear shaft hole, and the diameter of the gear shaft hole is larger than that of the gear shaft; a rotating shaft penetrates through the middle part of the cutter locking plate, and the rotating shaft and the blocking shaft are fixedly arranged between the body and the upper cover; the lock knife plate is characterized in that a bar-shaped block is fixedly arranged on the body and positioned between the two lock knife plates, a horizontal spring hole is formed in the bar-shaped block, a spring penetrates through the spring hole, symmetrical spring grooves are formed in the side walls of the lock knife plates positioned at the two ends of the spring, and the two ends of the spring are positioned in the spring grooves; the limiting block is provided with a guide groove, a top plate penetrates through the guide groove, the top plate and the strip-shaped block are positioned on the same horizontal line, symmetrical first inclined planes are arranged on two sides of the front end of the top plate, and the width of the top plate is larger than the distance between the two knife locking plates; the end of the top plate is connected with a vertically arranged push plate, the push plate is connected with an oil cylinder, and the oil cylinder is fixed on the upper cover.
Optionally, symmetrical arc-shaped grooves are formed in the inner side of the cutter claw, and arc-shaped flanges are arranged at the arc-shaped grooves.
Optionally, a positioning key is fixedly mounted on the knife claw, and the positioning key is located on the side face of the front end of the knife claw.
Optionally, a second inclined plane is formed on the inner side of the front end of each of the two cutter locking plates, the second inclined plane and the first inclined plane have the same inclination direction, and the inclination angles are equal.
Optionally, the bar-shaped block is integrally formed with the body.
Optionally, the rotating shaft and the two ends of the gear shaft are respectively fixed on the body and the upper cover through snap springs.
Compared with the prior art, the invention has the following technical effects:
the manipulator provided by the invention has high strength, can grab a heavy knife, and the front knife claw of the grabbing knife is in an open state under the action of the spring, so that the hard contact between the knife claw and the knife is avoided, and the safety is improved; the cutter locking mechanism is stable and convenient for daily maintenance.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a perspective view of a robot of the present invention;
FIG. 2 is a front view of the robot of the present invention;
FIG. 3 is a side view of the robot of the present invention;
FIG. 4 is a partial cross-sectional view of a robot of the present invention;
wherein, 1 is a knife locking plate, 2 is a rotating shaft, 3 is a blocking shaft, 4 is a top plate, 5 is a spring, 6 is an oil cylinder, 7 is a knife claw, 8 is a push plate, 9 is a body, 10 is a positioning key, 11 is an upper cover, 12 is a first inclined plane, 13 is a second inclined plane, and 14 is a strip-shaped block.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a manipulator, which solves the problems in the prior art, so that a tool claw is in an open state before the tool is grabbed, and the damage to a tool caused by hard contact is avoided.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The invention provides a manipulator, as shown in fig. 1-4, which comprises a body 9, wherein a limiting block with a rectangular cross section is integrally formed at one end of the body 9, two symmetrically arranged knife locking plates 1 are arranged at the other end of the body 9, the tail ends of the knife locking plates 1 are positioned outside the body 9, and a knife claw 7 is fixedly arranged at the tail end of the knife locking plate 1; the body 9 is fixedly connected with an upper cover 11 through a limiting block, the front end of the cutter locking plate 1 is positioned between the body 9 and the upper cover 11, a gear shaft hole is formed in the position, close to the limiting block, of the cutter locking plate 1, a gear shaft 3 penetrates through the gear shaft hole, and the diameter of the gear shaft hole is larger than that of the gear shaft 3; the middle part of the knife locking plate 1 is provided with a rotating shaft 2 in a penetrating way, and the rotating shaft 2 and the blocking shaft 3 are both fixedly arranged between the body 9 and the upper cover 11; a bar-shaped block 14 is fixedly arranged on the body 9, the bar-shaped block 14 is positioned between the two knife locking plates 1, a horizontal spring hole is formed in the bar-shaped block 14, a spring 5 penetrates through the spring hole, symmetrical spring grooves are formed in the side walls of the knife locking plates 1 positioned at the two ends of the spring 5, and the two ends of the spring 5 are positioned in the spring grooves; the spring 5 is positioned between the rotating shaft 2 and the cutter claw 7; a guide groove is formed in the limiting block, a top plate 4 penetrates through the guide groove, the top plate 4 and the strip-shaped block 14 are located on the same horizontal line, symmetrical first inclined planes 12 are formed in two sides of the front end of the top plate 4, and the width of the top plate 4 is larger than the distance between the two knife locking plates 1; the end of the top plate 4 is connected with a push plate 8 which is vertically arranged, the push plate 8 is connected with an oil cylinder 6, and the oil cylinder 6 is fixed on the upper cover 11.
Further preferably, symmetrical arc-shaped grooves are formed in the inner side of the cutter claw 7, and arc-shaped flanges are arranged at the arc-shaped grooves. The knife claw 7 is fixedly provided with a positioning key 10, and the positioning key 10 is positioned on the side surface of the front end of the knife claw 7. The inner sides of the front ends of the two knife locking plates 1 are provided with second inclined planes 13, the inclined directions of the second inclined planes 13 and the first inclined planes 12 are the same, and the inclined angles are the same. The bar 14 is integrally formed with the body 9. The two ends of the rotating shaft 2 and the gear shaft 3 are respectively fixed on the body 6 and the upper cover 11 through snap springs.
The invention clamps the cutter through the symmetrical arc grooves on the two cutter claws 7; a piston rod of an oil cylinder 6 is fixedly connected with one end of a push plate 8, a rotating shaft 2 is positioned between a spring 5 and a blocking shaft 3, under the action of the elastic force of the spring 5, one end, far away from the blocking shaft 3, of a knife locking plate 1 is in an opening state, when the manipulator is used, a manipulator is close to a cutter, an arc-shaped groove of a knife claw 7 is clamped into a knife handle of the cutter, the oil cylinder 6 controls a telescopic rod to move, so that the push plate 8 is driven to move along with the knife locking plate, the other end of the push plate 8 is connected with a top plate 4, the top plate 4 is driven to move horizontally, a first inclined surface 12 at the end part of the top plate 4 is contacted and matched with a second inclined surface 13 of the knife locking plate 1, the top plate 4 continues to move, as the diameter of a blocking shaft hole is larger than that of the blocking shaft 3, at the moment, one end, near the blocking shaft 3, of the knife, at the moment, the cutter claw 7 rotates inwards around the rotating shaft 2, and the spring 5 is compressed; when the knife claw 7 grabs the knife, the oil cylinder 6 stops acting, the top plate 4 stops moving, the knife is clamped at the moment, the oil cylinder 6 is started after the manipulator drives the knife to move to the preset position under the control of the control system, the telescopic rod of the oil cylinder 6 moves in the reverse direction to drive the top plate 4 to translate in the reverse direction, the first inclined plane 12 is separated from the second inclined plane 13 and is not contacted, at the moment, under the action of the elastic force of the spring 5, one end, close to the knife claw 7, of the knife locking plate 1 drives the knife claw 7 to rotate outwards around the rotating shaft 2, and the knife is loosened. The positioning key 10 is fixed on the knife claw 7 through a screw, and one side of the positioning key 10 protrudes out of the arc-shaped groove of the knife claw 7, so that the knife can be clamped into the groove of the knife handle of the knife when the knife is grabbed, the rotation of the knife is avoided, and the fixing effect is achieved.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (6)
1. A manipulator, its characterized in that: the cutter locking device comprises a body, wherein a limiting block with a rectangular cross section is integrally formed at one end of the body, two symmetrically arranged cutter locking plates are arranged at the other end of the body, the tail ends of the cutter locking plates are positioned outside the body, and cutter claws are fixedly arranged at the tail ends of the cutter locking plates; the body is fixedly connected with an upper cover through the limiting block, the front end of the cutter locking plate is positioned between the body and the upper cover, a gear shaft hole is formed in the position, close to the limiting block, of the cutter locking plate, a gear shaft penetrates through the gear shaft hole, and the diameter of the gear shaft hole is larger than that of the gear shaft; a rotating shaft penetrates through the middle part of the cutter locking plate, and the rotating shaft and the blocking shaft are fixedly arranged between the body and the upper cover; the lock knife plate is characterized in that a bar-shaped block is fixedly arranged on the body and positioned between the two lock knife plates, a horizontal spring hole is formed in the bar-shaped block, a spring penetrates through the spring hole, symmetrical spring grooves are formed in the side walls of the lock knife plates positioned at the two ends of the spring, and the two ends of the spring are positioned in the spring grooves; the limiting block is provided with a guide groove, a top plate penetrates through the guide groove, the top plate and the strip-shaped block are positioned on the same horizontal line, symmetrical first inclined planes are arranged on two sides of the front end of the top plate, and the width of the top plate is larger than the distance between the two knife locking plates; the end of the top plate is connected with a vertically arranged push plate, the push plate is connected with an oil cylinder, and the oil cylinder is fixed on the upper cover.
2. The robot hand according to claim 1, wherein: symmetrical arc-shaped grooves are formed in the inner sides of the cutter claws, and arc-shaped flanges are arranged at the arc-shaped grooves.
3. The robot hand according to claim 2, wherein: and the cutter claw is fixedly provided with a positioning key, and the positioning key is positioned on the side surface of the front end of the cutter claw.
4. The robot hand according to claim 1, wherein: and a second inclined plane is formed on the inner side of the front end of each of the two cutter locking plates, the inclined directions of the second inclined planes and the first inclined planes are the same, and the inclined angles are the same.
5. The robot hand according to claim 1, wherein: the bar-shaped block and the body are integrally formed.
6. The robot hand according to claim 1, wherein: the rotating shaft and the two ends of the gear shaft are respectively fixed on the body and the upper cover through snap springs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911010229.2A CN112692625A (en) | 2019-10-23 | 2019-10-23 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911010229.2A CN112692625A (en) | 2019-10-23 | 2019-10-23 | Mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112692625A true CN112692625A (en) | 2021-04-23 |
Family
ID=75505255
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911010229.2A Pending CN112692625A (en) | 2019-10-23 | 2019-10-23 | Mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112692625A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07185986A (en) * | 1993-12-24 | 1995-07-25 | Brother Ind Ltd | Machine tool furnished with tool change device |
| WO2002096744A1 (en) * | 2001-05-29 | 2002-12-05 | Wenzhou Shenglun Auto And Motorcycle Fittings Co., Ltd. | A hidden bicycle lock |
| CN201224043Y (en) * | 2008-07-03 | 2009-04-22 | 大连首轮机械工业有限公司 | Synchronous displacement tool changing mechanism with curve board, torsion spring, curve bearing and tool claw being locked |
| CN103769930A (en) * | 2014-01-16 | 2014-05-07 | 芜湖瑞精机床有限责任公司 | Tool-change manipulator locking mechanism of numerical-control processing center |
| CN105880457A (en) * | 2015-05-11 | 2016-08-24 | 伯尔霍夫连接技术有限公司 | mold changing device, mold convex circle and method for removing and inserting removable mold |
| CN106426253A (en) * | 2016-11-24 | 2017-02-22 | 上海云线娃娃信息科技有限公司 | Mechanical arm |
| CN107833770A (en) * | 2017-12-12 | 2018-03-23 | 博耳(无锡)电力成套有限公司 | A kind of interlock control apparatus |
| CN108015608A (en) * | 2016-11-02 | 2018-05-11 | 冈田精机丹阳有限公司 | A kind of anti-lost cutter mechanism |
| CN209520646U (en) * | 2019-01-29 | 2019-10-22 | 唐山市鑫强金属制品有限公司 | A kind of machining center tool changing device |
| CN211305646U (en) * | 2019-10-23 | 2020-08-21 | 冈田精机丹阳有限公司 | Mechanical arm |
-
2019
- 2019-10-23 CN CN201911010229.2A patent/CN112692625A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07185986A (en) * | 1993-12-24 | 1995-07-25 | Brother Ind Ltd | Machine tool furnished with tool change device |
| WO2002096744A1 (en) * | 2001-05-29 | 2002-12-05 | Wenzhou Shenglun Auto And Motorcycle Fittings Co., Ltd. | A hidden bicycle lock |
| CN201224043Y (en) * | 2008-07-03 | 2009-04-22 | 大连首轮机械工业有限公司 | Synchronous displacement tool changing mechanism with curve board, torsion spring, curve bearing and tool claw being locked |
| CN103769930A (en) * | 2014-01-16 | 2014-05-07 | 芜湖瑞精机床有限责任公司 | Tool-change manipulator locking mechanism of numerical-control processing center |
| CN105880457A (en) * | 2015-05-11 | 2016-08-24 | 伯尔霍夫连接技术有限公司 | mold changing device, mold convex circle and method for removing and inserting removable mold |
| CN108015608A (en) * | 2016-11-02 | 2018-05-11 | 冈田精机丹阳有限公司 | A kind of anti-lost cutter mechanism |
| CN106426253A (en) * | 2016-11-24 | 2017-02-22 | 上海云线娃娃信息科技有限公司 | Mechanical arm |
| CN107833770A (en) * | 2017-12-12 | 2018-03-23 | 博耳(无锡)电力成套有限公司 | A kind of interlock control apparatus |
| CN209520646U (en) * | 2019-01-29 | 2019-10-22 | 唐山市鑫强金属制品有限公司 | A kind of machining center tool changing device |
| CN211305646U (en) * | 2019-10-23 | 2020-08-21 | 冈田精机丹阳有限公司 | Mechanical arm |
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