CN201394835Y - Crank slipper type mechanical arm - Google Patents
Crank slipper type mechanical arm Download PDFInfo
- Publication number
- CN201394835Y CN201394835Y CN2009200132518U CN200920013251U CN201394835Y CN 201394835 Y CN201394835 Y CN 201394835Y CN 2009200132518 U CN2009200132518 U CN 2009200132518U CN 200920013251 U CN200920013251 U CN 200920013251U CN 201394835 Y CN201394835 Y CN 201394835Y
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- arm
- connecting rod
- dead point
- finger
- block type
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- 230000000295 complement effect Effects 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 238000001771 vacuum deposition Methods 0.000 abstract description 5
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
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Abstract
The utility model discloses a mechanical arm, in particular to a crank slipper type mechanical arm of a robot completing workpiece transmission between the vacuum chambers of a vacuum coating device.The utility model is structurally characterized in that a bracket plate is arranged on a hollow shaft, a ball rail is arranged on the end part of the bracket plate, a vertical shaft at the lower partof a dead point extractor is in slide fit in a circular hole of the bracket plate, a slide block capable of sliding on the ball rail, an arm rod seat and an arm rod are connected together, a connecting rod is connected with the arm rod, one end of an oscillating bar is fixedly combined with the other end of a main shaft and is hinged with the connecting rod, the connecting rod is provided with a concave guide slot matched with a poking pin on the dead point extractor, and a manipulator is arranged at the front end of the arm rod. The utility model has the advantages of simple structure, fewermaterial consumption, small occupied moving area, convenient manufacturing, obvious reduction of equipment manufacturing and using cost, stable performance, high reliability, maintenance omission andstrong practicability. The mechanical arm can also be used in other fields in addition to the vacuum coating device.
Description
Technical field
The utility model relates to a kind of mechanical arm, particularly relates to a kind of crank block type mechanism arm of finishing the robot that transmits workpiece between each vacuum of vacuum coating equipment is stopped up.
Background technology
The mechanical arm of finishing the robot that transmits workpiece between each vacuum of vacuum coating equipment is stopped up has multiple frame mode.The mechanical arm that has cylinder or a hydraulic cylinder transmission will the heavy damage vacuum environment because of its inevitable micro-leakage, so can not adopt in vacuum is stopped up.The mechanical arm of also useful gear, tooth bar transmission, because of service wear under the unlubricated state of high vacuum very fast, must be very high economical inadequately because of machining accuracy again, so this kind mechanical arm also seldom uses.What current use was more is a kind of mechanical arm that is made of gear, connecting rod, and its serviceability is better, but the requirement on machining accuracy height, to consume metal material many, economical inadequately.Particularly its motion requisite space is bigger, must the square flap valve of port greatly be arranged supporting use.And this kind flap valve is much higher than the cost of common push-pull valve, thereby has further improved equipment manufacturing cost.The crank block type mechanism arm mechanism that a kind of crank and connecting rod are isometric and the band protection is supported is arranged, as shown in Figure 4; When crank 18 goes to position vertically upward, this is this mechanism kinematic undefined position, and the straight pin on the connecting rod 5 enters in the supporting, makes slide block 2 to left movement; When crank 18 when axle turns round, the motion of connecting rod 5 is equivalent to fixed with it circle and does nonslipping rolling along fixed circle, slide block 2 is realized simple harmonic motions.Mechanical arm serviceability by this principle design is good, but its deficiency is arranged.First: connecting rod 5 must be the twice of fork length, and simultaneously, the also corresponding lengthening twice of supporting plate has increased material usage and processing charges.Second: because the radius of gyration of supporting plate has strengthened one times, excessive taken the confined space that vacuum is stopped up, thereby caused when other functional part is set difficultly, had to strengthen vacuum sometimes and stop up diameter and select bigger vavuum pump for use.This can make the corresponding increase of equipment manufacturing cost.
The utility model content
Technical problem to be solved in the utility model provide a kind of simple in structure, volume is little, take the crank block type mechanism arm that space is little, consumptive material is few, cost is low, reliability is high.
In order to solve the problems of the technologies described above, the utility model is achieved by the following technical solution.
Crank block type mechanism arm, its structure is as follows: supporting plate is installed on the hollow shaft, ball orbit is installed in the end of supporting plate, the vertical shaft cunning of extracting device bottom, dead point is assigned in the circular hole of supporting plate, the slide block that can on ball orbit, slide, the arm pole socket, the arm bar links together, connecting rod is connected with the arm bar, fork one end is consolidated in the other end and rod hinge connection on the main shaft, the first fan tooth on the fork second fan tooth and the dead point extracting device is complementary, connecting rod be provided with the dead point extracting device on the spill guiding groove of finger coupling, at the front end of arm bar manipulator is set.
Ball orbit on the described supporting plate is parallel with the arm bar.
The described second fan tooth is cemented in the middle part of fork lower surface.
Described dead point extracting device is to be made of finger, finger plate, column, the first fan tooth, locking nut, and finger, finger plate, column, the first fan tooth are fixedly connected, and the first fan tooth is cemented in below the column, and locking nut is threaded with column.
Described hollow shaft is concentric with main shaft.
Described connecting rod and arm bar are hinged.
Described connecting rod and arm pole socket are hinged.
Advantage of the present utility model and effect are as follows:
The utility model is simple in structure, few with material, take that space is little, convenient processing and manufacture, can significantly reduce device fabrication and use cost; Its stable performance, reliability height can be non-maintaining, and be practical.The utility model also can be applied to other field except that vacuum coating equipment.
Description of drawings
Fig. 1 is the utility model crank block type mechanism arm extended configuration plan structure schematic diagram.
Fig. 2 is the utility model crank block type mechanism arm retracted mode plan structure schematic diagram.
Fig. 3 is Fig. 2 E-E sectional structure schematic diagram.
Fig. 4 is an existing crank and connecting rod is isometric and the crank block mechanical arm operation principle schematic diagram of band protection supporting.
Among the figure, 1, ball orbit, 2, slide block, 3, the arm pole socket, 4, arm bar, 5, connecting rod, 6, pull pin, 7, the plate of pulling pin, 8, column, 9, the first fan tooth, 10, supporting plate, 11, locking nut, 12, fork, 13, the second fan tooth, 14, hollow shaft, 15 main shafts, 16, vertical shaft, 17, the dead point extracting device, 18, crank, 19, manipulator, 20, the spill guiding groove.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is described in further details, but protection domain of the present utility model is not limit by embodiment.
As shown in Figure 1-Figure 3, the utility model structure is as follows: supporting plate 10 is installed on the hollow shaft 14, ball orbit 1 is installed in the end of supporting plate 10, vertical shaft 16 sliding being assigned in the circular hole of supporting plate 10 of dead point extracting device 17 bottoms, the slide block 2 that can on ball orbit 1, slide, arm pole socket 3, arm bar 4 links together, connecting rod 5 is connected with arm bar 4, it is hinged that fork 12 1 ends are consolidated on the main shaft 15 other end and connecting rod 5, the first fan tooth 9 on the fork 12 second fan tooth 13 and the dead point extracting device 17 is complementary, connecting rod 5 be provided with dead point extracting device 17 on the spill guiding groove 20 of finger 6 coupling, at the front end of arm bar 4 manipulator 19 is set.
The utility model is made up of two parts as mentioned above.First, the slider-crank mechanism that is made of supporting plate 10, ball orbit 1, slide block 2, arm bar 3, fork 12, connecting rod 5 is formed the arm of mechanical arm.Provide its concrete structure and size below, but this can not be used to limit protection domain of the present utility model.Each scantling of arm that slider-crank mechanism is formed mechanical arm is: AB=BC=AD; The axle center and the fork centre of gyration A of circular arm bar 4 coincide in vertical plane; It is parallel and place the outside of centre of gyration A to be consolidated in ball orbit 1 and arm bar 4 on the supporting plate 10, and its eccentric throw is got minimum of a value according to the concrete size of member; With the A point is the centre of gyration, and the pitch diameter that is cemented in the fan of second below fork tooth 13 is 1.5 times of AB length; The number of teeth of the second fan tooth 13 equals the first fan tooth, 9 numbers of teeth and subtracts 1; Connecting rod 5 upper surface middle part are processed with the spill guiding groove 20 that is associated with finger 6 on the dead point extracting device 17, and the center of arc of spill guiding groove 20 places the BC mid point.Second portion: constitute dead point extracting device 17 by finger 6, finger plate 7, column 8, the first fan tooth 9, locking nut 11.It is to be the centre of gyration with the D point, and the pitch diameters that are cemented in the first fan tooth 9 below the column 8 are 0.5 times of AB distance; The centre-to-centre spacing of finger center and centre of gyration D is 0.5 times of AB distance.
Operation principle of the present utility model is as follows: the supporting plate 10 that connects firmly on trunk portion of robot hollow shaft 14 can turn round 360 ° around central point A, and drives rotation synchronously together such as ball orbit, arm bar, Pai bar, connecting rod by supporting plate.Can control mechanical arm as required stops at any angle on the position.When hollow shaft 14 braking maintains static, during drive shaft 15 rotations, the fork that drive is connected firmly its upper end rotates, and drives slide block and the arm bar moves to left by connecting rod.When fork goes to the C point when overlapping with the A point, the finger on the extracting device has entered in the spill guiding groove on the connecting rod, and first on the fan of second on fork tooth and the extracting device fanned tooth and be in engagement.Fork continuation rotation, the fan of second on it tooth relatively rotates extracting device by the fan of first on extracting device tooth, and the finger on the extracting device forces connecting rod drive slide block to move to left and leaves dead point A continuation reach smoothly.Identical therewith during the backstroke motion.
The utility model mechanical arm is driven by two concentric axles, main shaft 15 also in the same way, rotated synchronously when hollow shaft 14 rotated, hollow shaft then maintained static when main shaft 15 rotated, hollow shaft 14 is that existing robot trunk partly drives very conventional prior art with the driving of main shaft 15, the utility model is disclosed to be the mechanical arm part, is not described in detail the drive part of robot.Ball orbit connects firmly on supporting plate 10 left ends, and slide block 2, arm pole socket 3, arm bar 4 connect firmly together, can make linear slide on ball orbit.Fork 12 1 ends are consolidated on the main shaft 15, and the other end and connecting rod 5 are hinged, and the other end of connecting rod 5 and arm pole socket and arm bar are hinged.Connecting firmly the second fan tooth at the middle part of fork lower surface.Be fixedly connected and form the dead point extracting device by finger 6, finger plate 7, column 8, the first fan tooth 9.The vertical shaft 16 of extracting device bottom, dead point is slided and is assigned in the supporting plate 10 corresponding circular holes, and adjusts the elasticity that vertical shafts rotate with locking nut 11.The manipulator that can connect various structures foremost as required at arm bar 4.All members of the present utility model are because of in high vacuum environment work, so all use the manufacturing of the special-purpose high-quality stainless steel of vacuum.If under the normal atmospheric environment, use, can select other material manufacturing.
Claims (7)
1, crank block type mechanism arm, it is characterized in that structure is as follows: supporting plate (10) is installed on the hollow shaft (14), ball orbit (1) is installed in the end of supporting plate (10), the vertical shaft (16) of dead point extracting device (17) bottom is sliding to be assigned in the circular hole of supporting plate (10), the slide block that can on ball orbit, slide (2), arm pole socket (3), arm bar (4) links together, connecting rod (5) is connected with arm bar (4), fork (12) one ends are consolidated in that main shaft (15) is gone up the other end and connecting rod (5) is hinged, the first fan tooth (9) on the fork (12) second fan tooth (13) and the dead point extracting device (17) is complementary, connecting rod (5) be provided with dead point extracting device (17) on the spill guiding groove (20) of finger (6) coupling, at the front end of arm bar (4) manipulator (19) is set.
2, crank block type mechanism arm according to claim 1 is characterized in that the ball orbit (1) on the described supporting plate (10) is parallel with arm bar (4).
3, crank block type mechanism arm according to claim 1 is characterized in that the described second fan tooth (13) is cemented in the middle part of fork (12) lower surface.
4, crank block type mechanism arm according to claim 1, it is characterized in that described dead point extracting device (17) is to be made of finger (6), finger plate (7), column (8), the first fan tooth (9), locking nut (11), finger (6), finger plate (7), column (8), the first fan tooth (9) are fixedly connected, the first fan tooth (9) is cemented in below the column (8), and locking nut (11) is threaded with column (8).
5, crank block type mechanism arm according to claim 1 is characterized in that described hollow shaft (14) is concentric with main shaft (15).
6, crank block type mechanism arm according to claim 1 is characterized in that described connecting rod (5) and arm bar (4) are hinged.
7,, it is characterized in that described connecting rod (5) and arm pole socket (3) are hinged according to claim 1 or 6 described crank block type mechanism arms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200132518U CN201394835Y (en) | 2009-04-27 | 2009-04-27 | Crank slipper type mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200132518U CN201394835Y (en) | 2009-04-27 | 2009-04-27 | Crank slipper type mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201394835Y true CN201394835Y (en) | 2010-02-03 |
Family
ID=41617331
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009200132518U Expired - Lifetime CN201394835Y (en) | 2009-04-27 | 2009-04-27 | Crank slipper type mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201394835Y (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101537612B (en) * | 2009-04-27 | 2010-12-29 | 辽宁聚智科技发展有限公司 | Crank block type mechanism arm |
| CN102018574A (en) * | 2010-11-11 | 2011-04-20 | 北京理工大学 | Small-volume medical manipulator joint with high load capacity |
| CN105082141A (en) * | 2015-05-08 | 2015-11-25 | 上海交通大学 | Execution modules, magic cube resolving robot and use method for magic cube resolving robot |
| CN105107763A (en) * | 2015-09-29 | 2015-12-02 | 山东新华医疗器械股份有限公司 | Lamp inspector waste removing apparatus and lamp inspector |
| CN106826798A (en) * | 2017-04-06 | 2017-06-13 | 江南大学 | Finger displacement and the dual drive crank block parallel institution palm-type manipulator of indexing |
| CN106926265A (en) * | 2017-04-26 | 2017-07-07 | 江南大学 | Finger displacement and the dual drive crank rocker sliding block parallel institution palm-type manipulator of indexing |
| CN106926246A (en) * | 2015-12-31 | 2017-07-07 | 中微半导体设备(上海)有限公司 | A kind of mechanical arm used in vacuum environment |
| CN112123322A (en) * | 2020-09-23 | 2020-12-25 | 江南大学 | Palm manipulator combined by cross-shaped guide rod mechanism and double-drive five-rod sliding block parallel mechanism |
-
2009
- 2009-04-27 CN CN2009200132518U patent/CN201394835Y/en not_active Expired - Lifetime
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101537612B (en) * | 2009-04-27 | 2010-12-29 | 辽宁聚智科技发展有限公司 | Crank block type mechanism arm |
| CN102018574A (en) * | 2010-11-11 | 2011-04-20 | 北京理工大学 | Small-volume medical manipulator joint with high load capacity |
| CN102018574B (en) * | 2010-11-11 | 2012-06-27 | 北京理工大学 | Small-volume medical manipulator joint with high load capacity |
| CN105082141A (en) * | 2015-05-08 | 2015-11-25 | 上海交通大学 | Execution modules, magic cube resolving robot and use method for magic cube resolving robot |
| CN105107763A (en) * | 2015-09-29 | 2015-12-02 | 山东新华医疗器械股份有限公司 | Lamp inspector waste removing apparatus and lamp inspector |
| CN106926246A (en) * | 2015-12-31 | 2017-07-07 | 中微半导体设备(上海)有限公司 | A kind of mechanical arm used in vacuum environment |
| CN106926246B (en) * | 2015-12-31 | 2019-05-28 | 中微半导体设备(上海)股份有限公司 | Mechanical arm used in a kind of vacuum environment |
| WO2018184399A1 (en) * | 2017-04-06 | 2018-10-11 | 江南大学 | Palm-type robotic hand having dual-drive parallel slider-crank mechanism with displaceable and rotatable fingers |
| CN106826798B (en) * | 2017-04-06 | 2019-03-08 | 江南大学 | The double drive crank block parallel institution palm-type manipulator of finger displacement and indexing |
| CN106826798A (en) * | 2017-04-06 | 2017-06-13 | 江南大学 | Finger displacement and the dual drive crank block parallel institution palm-type manipulator of indexing |
| US10688670B2 (en) | 2017-04-06 | 2020-06-23 | Jiangnan University | Palm-type mechanical gripper with variable-position and rotatable fingers and dual-drive crank-slider parallel mechanism |
| CN106926265A (en) * | 2017-04-26 | 2017-07-07 | 江南大学 | Finger displacement and the dual drive crank rocker sliding block parallel institution palm-type manipulator of indexing |
| WO2018196388A1 (en) * | 2017-04-26 | 2018-11-01 | 江南大学 | Palm type manipulator with crank rocker slider parallel mechanism capable of changing and rotating positions of fingers |
| US10688668B2 (en) | 2017-04-26 | 2020-06-23 | Jiangnan University | Palm-type mechanical gripper with variable-position and rotatable fingers and crank-rocker-slider parallel mechanism |
| CN112123322A (en) * | 2020-09-23 | 2020-12-25 | 江南大学 | Palm manipulator combined by cross-shaped guide rod mechanism and double-drive five-rod sliding block parallel mechanism |
| CN112123322B (en) * | 2020-09-23 | 2021-11-16 | 江南大学 | Combination palm manipulator with cross guide rod mechanism and dual-drive five-bar slider parallel mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20100203 Effective date of abandoning: 20090427 |