CN202283721U - Mechanical arm positioning mechanism - Google Patents
Mechanical arm positioning mechanism Download PDFInfo
- Publication number
- CN202283721U CN202283721U CN2011201843092U CN201120184309U CN202283721U CN 202283721 U CN202283721 U CN 202283721U CN 2011201843092 U CN2011201843092 U CN 2011201843092U CN 201120184309 U CN201120184309 U CN 201120184309U CN 202283721 U CN202283721 U CN 202283721U
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- Prior art keywords
- manipulator
- hook
- center
- bascule
- carrier
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- Expired - Lifetime
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Abstract
The utility model provides a mechanical arm positioning mechanism, which comprises a balancing device (1) for automatically centering the gravity center, and a loading/unlading mechanical arm (2), wherein comb tooth mechanisms mutually matched are arranged between the loading/unloading mechanical arm (2) and the balancing device (1); and the loading/unloading mechanical arm (2) is provided with a driving device (2.1) for driving the loading/unloading mechanical arm (2) to lift. The mechanical arm positioning mechanism has the advantages of simple operation, and capacity of putting workpieces accurately in a time-saving and labor-saving way.
Description
Technical field
The utility model relates to the mass measurement field, relates in particular to a kind of mechanical handling device, particularly a kind ofly can workpiece accurately be placed on the manipulator detent mechanism on the station.
Background technology
In commercial production particularly in the mass measurement field; Often to workpiece accurately be placed on the station, adopt the quality comparator that workpiece is measured usually, in order to reach accurate measurement workpiece quality like quality for measuring workpieces; Will there be very big influence the position that workpiece is placed to precision; Usually the quality comparator has a center of gravity reference line, and when measuring, it is the most accurate that the center of gravity of workpiece and this center of gravity reference line are placed on the precision of measuring on the vertical straight line.In order to guarantee that workpiece can be placed on this center of gravity reference line accurately; Because the quality comparator is typically provided with the bascule of center of gravity self-aligning; Traditional rule of doing is that manual work repeatedly is placed on the measurement station, and the position that placement is described if beat does not take place the bascule of center of gravity self-aligning is accurate.This placement will utilize manual work to place, and each accuracy of placing is difficult to grasp, and will just can reach requirement through placement for a long time usually, and operation is comparatively wasted time and energy.
The utility model content
The technical problem that the utility model will solve is, a kind of manipulator detent mechanism of simple to operate, time saving and energy saving accurately place work piece is provided.
The technical solution of the utility model is; A kind of manipulator detent mechanism is provided; The bascule and the assembling and disassembling manipulator that comprise the center of gravity self-aligning; Be provided with the broach mechanism of joining mutually between described assembling and disassembling manipulator and the bascule, described assembling and disassembling manipulator is provided with the drive unit that drives its up-down.
After adopting above scheme, the utility model utilizes the bascule of center of gravity self-aligning, when workpiece is placed the generation skew; Because the beat function of the bascule of center of gravity self-aligning; Make the center of gravity of workpiece to center of gravity reference line generation beat, owing to be provided with the broach mechanism of joining mutually between assembling and disassembling manipulator and the bascule, assembling and disassembling manipulator at this moment capable of using unloads workpiece from bascule; The center of gravity of bascule is just being returned once more; And workpiece has been revised in the position that assembling and disassembling manipulator is placed, through the finishing machinery hand workpiece is placed on the bascule once more, if at this moment still there is skew in the position of workpiece; Then beat takes place to the center of gravity reference line in the center of gravity of workpiece again, and repeating above step can accurate center of gravity with workpiece overlap with the center of gravity reference line.The utility model only needs repeatedly workpiece to be loaded and unloaded several times and can have the workpiece of skew to carry out position correction to placement location when operation, and is simple to operate, time saving and energy saving.
As preferably, described bascule is the member that is provided with the suspended structure of vertical suspension hook.Adopt the balance device structure of suspended structure simple, weighing is carried out in the below that can be conveniently workpiece be suspended on the quality comparator, and it is convenient to implement.
As preferably, described bascule is the member that is provided with the brace type structure of central support posts.The top of adopting the bascule of brace type structure can be conveniently workpiece to be placed on the quality comparator is measured, and the workpiece of especially convenient big quality is measured in air.
As preferably; Described bascule comprises hanging stick I and the hanging frame that is fixed as one, and described hanging stick I is provided with hook, and the centre of hanging frame bottom is provided with the bearing tray of broach shape; When hanging stick I vertically placed, the center of gravity of hanging stick I and hanging frame and hanging stick I were on a vertical straight line.
As preferably; Described assembling and disassembling manipulator comprises that the center is provided with the four station carriers that vertically revolve post and can drives the driving mechanism I that four station carriers are done and rotated, and described four station carriers are provided with the carrier I of the broach shape that is complementary with bearing tray.
As preferably; Described bascule comprises hanging stick II and the hook carrier II that is fixed as one; Described hanging stick II is provided with hook; Described carrier II is provided with the carrying bracket I I of the broach shape that is hook, and when hanging stick II vertically placed, the center of gravity of hanging stick II and hook carrier II and hanging stick II intersected on a vertical straight line and with the cross spider of hook.Cross spider described herein is meant the cross spider of two intersecting planes that constitute hook.
As preferably; Described assembling and disassembling manipulator comprises carrier III that matches with carrier II and the driving mechanism II that can drive carrier III up-down; Described carrier III is provided with the carrying bracket I II of the broach shape that is hook; Driving mechanism II drives carrier III decline and when the last time that the workpiece that carries bracket I II drops on carrying bracket I I, carries bracket I II and overlap with two upper surfaces that carry bracket I I hook angle.
As preferably; Described bascule comprises support bar and the base plate that is fixed as one, and when support bar was vertically placed, the center of gravity of support bar and base plate and support bar were on a vertical straight line; The top of support bar and base plate is provided with the gravity balance member; Described balance component comprise can before and after slide plate that slides and the top board that can horizontally slip, described base plate and slide plate are provided with the pulley and the slide rail of joining mutually, the top of described top board is provided with the convex tendon that broach is adorned; The bottom of top board center is provided with the spring slide assemblies, and described top board and slide plate are joined mutually and can be horizontally slipped along the front/rear end of slide plate.
As preferably; Described spring slide assemblies is meant, comprises that the center is provided with the support of annular construction member, adopts four elastic components to be connected between described annular construction member and the support; Described support is fixed on the lower surface of top board, and the centre bore of annular construction member is supported on the support bar.
As preferably, described assembling and disassembling manipulator comprises slide plate that is provided with the broach shape strip through-hole of joining mutually with top board and the driving mechanism III that can drive the up-down of slide plate.
Description of drawings
It among Fig. 1 the manipulator detent mechanism embodiment 1 whole structural scheme of mechanism of the utility model.
Among Fig. 2 the manipulator detent mechanism embodiment 2 whole structural scheme of mechanism of the utility model.
Among Fig. 3 the manipulator detent mechanism embodiment 3 whole structural scheme of mechanism of the utility model.
It among Fig. 4 bascule blast structural representation among the manipulator detent mechanism embodiment 3 of the utility model
Shown in the figure:
1, bascule, 1.1.1, hanging stick I, 1.1.1.1, hook I, 1.1.2, hanging frame, 1.1.2.1, bearing tray; 1.2.1, hanging stick II, 1.2.1.1, hook II, 1.2.2, carrier II, carry bracket I I, 1.3.1, support bar at 1.2.2.1; 1.3.2, base plate, 1.3.3, gravity balance member, 1.3.3.1, slide plate, 1.3.3.2, top board, 1.3.3.2.1, spring slide assemblies, 1.3.3.2.1.1, annular construction member; 1.3.3.2.1.2, support, 2, assembling and disassembling manipulator, 2.1, drive unit, 2.1.1, four station carriers, vertically revolve post at 2.1.1.1; 2.1.1.2, carrier I, 2.1.2, driving mechanism I, 2.2.1, carrier III, carry support at 2.2.1.1; 2.2.2, driving mechanism II, 2.3.1, slide plate, 2.3.2, driving mechanism III.
The specific embodiment
For the technical scheme of the utility model better is described, be described in detail below in conjunction with the specific embodiment of accompanying drawing to the utility model.
Embodiment 1:
Shown in accompanying drawing 1; A kind of manipulator detent mechanism; Comprise the bascule 1 and assembling and disassembling manipulator 2 of center of gravity self-aligning, be provided with the broach mechanism of joining mutually between described assembling and disassembling manipulator 2 and the bascule 1, described assembling and disassembling manipulator 2 is provided with the drive unit 2.1 that drives its up-down.
Described bascule 1 is for the member of the suspended structure that is provided with vertical suspension hook and comprise the hanging stick I1.1.1 and the hanging frame 1.1.2 of fixed bit one; Described hanging stick I1.1.1 is provided with hook I1.1.1.1; The centre of hanging frame 1.1.2 bottom is provided with the bearing tray 1.1.2.1 of broach shape; When hanging stick I1.1.1 vertically placed, the center of gravity of hanging stick I1.1.1 and hanging frame 1.1.2 and hanging stick I1.1.1 were on a vertical straight line.
Described assembling and disassembling manipulator 2 comprises that the center is provided with the four station carrier 2.1.1 that vertically revolve post 2.1.1.1 and can drives the driving mechanism I2.1.2 that four station carrier 2.1.1 do and rotate, and described four station carrier 2.1.1 are provided with the carrier I2.1.1.2 of the broach shape that is complementary with bearing tray 1.1.2.1
Embodiment 2:
Shown in accompanying drawing 2; A kind of manipulator detent mechanism; Comprise the bascule 1 and assembling and disassembling manipulator 2 of center of gravity self-aligning, be provided with the broach mechanism of joining mutually between described assembling and disassembling manipulator 2 and the bascule 1, described assembling and disassembling manipulator 2 is provided with the drive unit 2.1 that drives its up-down.
Described bascule 1 is for the member of the suspended structure that is provided with vertical suspension hook and comprise that described bascule 1 comprises hanging stick II1.2.1 and the hook carrier II1.2.2 that is fixed as one; Described hanging stick II1.2.1 is provided with hook II1.2.1.1; Described carrier II1.2.2 is provided with the carrying bracket I I1.2.2.1 of the broach shape that is hook; When hanging stick II1.2.1 vertically placed, the center of gravity of hanging stick II1.2.1 and hook carrier II1.2.2 and hanging stick II1.2.1 were on a vertical straight line.
Described assembling and disassembling manipulator 2 comprises carrier III2.2.1 that matches with carrier II1.2.2 and the driving mechanism II2.2.2 that can drive carrier III2.2.1 up-down; Described carrier III2.2.1 is provided with the carrying bracket I II2.2.1.1 of the broach shape that is hook; Driving mechanism II2.2.2 drives carrier III2.2.1 decline and when the last time that the workpiece that carries bracket I II2.2.1.1 drops on carrying bracket I I1.2.2.1, carries bracket I II2.2.1.1 and overlap with two upper surfaces that carry bracket I I1.2.2.1 hook angle.
Described driving mechanism II2.2.2 adopts the mode of lead screw transmission to drive carrier III2.2.1 and moves up and down.
Embodiment 3:
Shown in accompanying drawing 3 and Fig. 4; A kind of manipulator detent mechanism; Comprise the bascule 1 and assembling and disassembling manipulator 2 of center of gravity self-aligning, be provided with the broach mechanism of joining mutually between described assembling and disassembling manipulator 2 and the bascule 1, described assembling and disassembling manipulator 2 is provided with the drive unit 2.1 that drives its up-down.
Described bascule 2 is for the member of the brace type structure that is provided with central support posts and comprise support bar 1.3.1 and the base plate 1.3.2 that is fixed as one; When support bar 1.3.1 vertically placed, the center of gravity of support bar 1.3.1 and base plate 1.3.2 and support bar 1.3.1 intersected on a vertical straight line and with the cross spider of hook.The top of support bar 1.3.1 and base plate 1.3.2 is provided with gravity balance member 1.3.3; Described balance component 1.3.3 comprise can before and after slide plate 1.3.3.1 that slides and the top board 1.3.3.2 that can horizontally slip; Described base plate 1.3.2 and slide plate 1.3.3.1 are provided with the pulley and the slide rail of joining mutually; The top of described top board 1.3.3.2 is provided with the convex tendon of broach dress; The bottom of top board 1.3.3.2 center is provided with spring slide assemblies 1.3.3.2.1, and described top board 1.3.3.2 and slide plate 1.3.3.1 join mutually and can horizontally slip along the front/rear end of slide plate 1.3.3.1.
Described spring slide assemblies 1.3.3.2.1 is meant; Comprise that the center is provided with the support 1.3.3.2.1.2 of annular construction member 1.3.3.2.1.1; Adopt four elastic components to be connected between described annular construction member 1.3.3.2.1.1 and the support 1.3.3.2.1.2; Described support 1.3.3.2.1.2 is fixed on the lower surface of top board 1.3.3.2, and the centre bore of annular construction member 1.3.3.2.1.1 is supported on the support bar 1.3.1.
Described assembling and disassembling manipulator 2 comprises slide plate 2.3.1 that is provided with the broach shape strip through-hole of joining mutually with top board 1.3.3.2 and the driving mechanism III2.3.2 that can drive the up-down of slide plate 2.3.1.
As shown in Figure 3, described driving mechanism III2.3.2 adopts the mode of hand rotation handle to adopt cam that one end of the guide rail of support skid 2.3.1 is risen or falls, and the guide rail other end of support skid 2.3.1 is hinged on the support.
In the above-described embodiments; A kind of preferred forms of the utility model is described; Obviously; Under the inventive concept of the utility model; Still can make a lot of variations and improvement, also can adopt structure that the bascule with center of gravity self-aligning function of other versions, the key of the utility model be to adopt the broach shape at workpiece loading and unloading and utilize the center of gravity beat function of the bascule of center of gravity self-aligning function to make the position of workpiece obtain fine setting progressively and reach pinpoint function like described bascule 1.At this, should explain that any change of under the inventive concept of the utility model, being made all will fall in the protection domain of the utility model.
Claims (10)
1. manipulator detent mechanism; It is characterized in that: the bascule (1) and the assembling and disassembling manipulator (2) that comprise the center of gravity self-aligning; Be provided with the broach mechanism of joining mutually between described assembling and disassembling manipulator (2) and the bascule (1), described assembling and disassembling manipulator (2) is provided with the drive unit (2.1) that drives its up-down.
2. manipulator automatic positioning mechanism according to claim 1 is characterized in that: described bascule (1) is the member that is provided with the suspended structure of vertical suspension hook.
3. manipulator automatic positioning mechanism according to claim 1 is characterized in that: described bascule (1) is the member that is provided with the brace type structure of central support posts.
4. manipulator automatic positioning mechanism according to claim 2; It is characterized in that: described bascule (1) comprises hanging stick I (1.1.1) and the hanging frame (1.1.2) that is fixed as one; Described hanging stick I (1.1.1) is provided with hook I (1.1.1.1); The centre of hanging frame (1.1.2) bottom is provided with the bearing tray (1.1.2.1) of broach shape; Hanging stick I (1.1.1) is when vertically placing, and the center of gravity of hanging stick I (1.1.1) and hanging frame (1.1.2) and hanging stick I (1.1.1) are on a vertical straight line.
5. manipulator automatic positioning structure according to claim 4; It is characterized in that: described assembling and disassembling manipulator (2) comprises that the center is provided with the four station carriers (2.1.1) that vertically revolve post (2.1.1.1) and can drives the driving mechanism I (2.1.2) that four station carriers (2.1.1) are done and rotated, and described four station carriers (2.1.1) are provided with the carrier I (2.1.1.2) of the broach shape that is complementary with bearing tray (1.1.2.1).
6. manipulator automatic positioning mechanism according to claim 2; It is characterized in that: described bascule (1) comprises hanging stick II (1.2.1) and the hook carrier II (1.2.2) that is fixed as one; Described hanging stick II (1.2.1) is provided with hook II (1.2.1.1); Described carrier II (1.2.2) is provided with the carrying bracket I I (1.2.2.1) of the broach shape that is hook; Hanging stick II (1.2.1) is when vertically placing, and the center of gravity of hanging stick II (1.2.1) and hook carrier II (1.2.2) and hanging stick II (1.2.1) intersect on a vertical straight line and with the cross spider of hook.
7. manipulator automatic positioning mechanism according to claim 6; It is characterized in that: described assembling and disassembling manipulator (2) comprises the carrier III (2.2.1) that matches with carrier II (1.2.2) and can drive the driving mechanism II (2.2.2) that carrier III (2.2.1) goes up and down; Described carrier III (2.2.1) is provided with the carrying bracket I II (2.2.1.1) of the broach shape that is hook; Driving mechanism II (2.2.2) drives carrier III (2.2.1) decline and when the last time that the workpiece that carries bracket I II (2.2.1.1) drops on carrying bracket I I (1.2.2.1), carries bracket I II (2.2.1.1) and overlap with two upper surfaces that carry bracket I I (1.2.2.1) hook angle.
8. manipulator automatic positioning mechanism according to claim 3; It is characterized in that: described bascule (1) comprises support bar (1.3.1) and the base plate (1.3.2) that is fixed as one; Support bar (1.3.1) is when vertically placing; The center of gravity of support bar (1.3.1) and base plate (1.3.2) and support bar (1.3.1) are on a vertical straight line; The top of support bar (1.3.1) and base plate (1.3.2) is provided with gravity balance member (1.3.3); Described balance component (1.3.3) comprise can before and after the slide plate (1.3.3.1) that slides and the top board (1.3.3.2) that can horizontally slip; Described base plate (1.3.2) and slide plate (1.3.3.1) are provided with the pulley and the slide rail of joining mutually; The top of described top board (1.3.3.2) is provided with the convex tendon of broach dress, and the bottom of top board (1.3.3.2) center is provided with spring slide assemblies (1.3.3.2.1), and described top board (1.3.3.2) is joined mutually with slide plate (1.3.3.1) and can be horizontally slipped along the front/rear end of slide plate (1.3.3.1).
9. manipulator automatic positioning mechanism according to claim 8; It is characterized in that: described spring slide assemblies (1.3.3.2.1) is meant; Comprise that the center is provided with the support of annular construction member (1.3.3.2.1.1) (1.3.3.2.1.2); Adopt four elastic components to be connected between described annular construction member (1.3.3.2.1.1) and the support (1.3.3.2.1.2); Described support (1.3.3.2.1.2) is fixed on the lower surface of top board (1.3.3.2), and the centre bore of annular construction member (1.3.3.2.1.1) is supported on the support bar (1.3.1).
10. it is characterized in that according to Claim 8 or 9 said manipulator detent mechanisms: described assembling and disassembling manipulator (2) comprises slide plate (2.3.1) that is provided with the broach shape strip through-hole of joining mutually with top board (1.3.3.2) and the driving mechanism III (2.3.2) that can drive the up-down of slide plate (2.3.1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201843092U CN202283721U (en) | 2011-06-02 | 2011-06-02 | Mechanical arm positioning mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201843092U CN202283721U (en) | 2011-06-02 | 2011-06-02 | Mechanical arm positioning mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202283721U true CN202283721U (en) | 2012-06-27 |
Family
ID=46295255
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011201843092U Expired - Lifetime CN202283721U (en) | 2011-06-02 | 2011-06-02 | Mechanical arm positioning mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202283721U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102218737A (en) * | 2011-06-02 | 2011-10-19 | 山东省计量科学研究院 | Mechanical hand positioning mechanism |
| CN109969784A (en) * | 2019-04-30 | 2019-07-05 | 浙江迪丰服饰有限公司 | A kind of R-T unit for clothes suspension assembly line |
-
2011
- 2011-06-02 CN CN2011201843092U patent/CN202283721U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102218737A (en) * | 2011-06-02 | 2011-10-19 | 山东省计量科学研究院 | Mechanical hand positioning mechanism |
| CN102218737B (en) * | 2011-06-02 | 2013-06-05 | 山东省计量科学研究院 | Mechanical hand positioning mechanism |
| CN109969784A (en) * | 2019-04-30 | 2019-07-05 | 浙江迪丰服饰有限公司 | A kind of R-T unit for clothes suspension assembly line |
| CN109969784B (en) * | 2019-04-30 | 2021-01-05 | 浙江迪丰服饰有限公司 | A transceiver for assembly line is hung to clothing |
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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: 20120627 Effective date of abandoning: 20130605 |
|
| RGAV | Abandon patent right to avoid regrant |