CN203293198U

CN203293198U - Material feeding manipulator

Info

Publication number: CN203293198U
Application number: CN201320362968XU
Authority: CN
Inventors: 周天毫
Original assignee: Suzhou Suteng Electronic Technology Co Ltd
Current assignee: Suzhou Suteng Electronic Technology Co Ltd
Priority date: 2013-06-24
Filing date: 2013-06-24
Publication date: 2013-11-20
Anticipated expiration: 2023-06-24

Abstract

The utility model relates to a material feeding manipulator which comprises a base, wherein a manipulator large arm, a manipulator small arm, a manipulator claw and a wrist connected with the manipulator claw are sequentially arranged on the base, and a first driving mechanism, a second driving mechanism and a third driving mechanism are arranged on the base. The first driving mechanism is used for driving the manipulator large arm to rotate circumferentially and move horizontally, the second driving mechanism can drive the manipulator small arm to move vertically, and the third driving mechanism can drive the manipulator claw to swing, open and close. The material feeding manipulator is high in flexibility and good in driving force, can achieve motions of rotation, translation, lifting, swinging, opening and closing and can achieve difficult material feeding.

Description

A kind of feeding mechanical hand

Technical field

The utility model relates to a kind of manipulator, relates in particular to a kind of feeding mechanical hand.

Background technology

Manipulator can imitate some holding function of staff and arm; in order to the automatic pilot that captures, carries object or operation tool by fixed routine; it can replace people's heavy work to realize mechanization and the automation of producing; can under hostile environment, operate with the protection personal safety, thereby be widely used in machine-building, metallurgy, electronics, light industry and atomic energy department.

But manipulator and people's hand still makes a big difference, and is mainly manifested on flexibility ratio, and existing feeding mechanical hand flexibility ratio is not high, can not meet the feeding requirement in various situations.

The utility model content

The utility model has overcome the deficiencies in the prior art, and the feeding mechanical hand that a kind of flexibility ratio is higher, driven nature is good is provided.

For achieving the above object, the technical solution adopted in the utility model is: a kind of feeding mechanical hand, comprise base, on described base, be provided with successively the wrist of the large arm of manipulator, manipulator forearm, mechanical paw and the described mechanical paw of connection, it is characterized in that: described base is provided with and drives the first driving mechanism that the large arm of described manipulator rotates in a circumferential direction and moves horizontally, drive the second driving mechanism that described manipulator forearm moves up and down, and the driving device paw swings and the 3rd driving mechanism of folding.

In preferred embodiment of the utility model, comprise that further described the first driving mechanism comprises support and is arranged on the column on support, described column is connected with the large arm of described manipulator by connecting flat arm, described support is provided with and drives the first motor that described column rotates in a circumferential direction, described flat arm and vertical connection of the large arm of described manipulator, described flat arm are provided with and drive the second motor that the large arm of described manipulator moves horizontally.

In preferred embodiment of the utility model, comprise that further described the second driving mechanism comprises three motor of driving device arm along the large arm lifting of described manipulator.

In preferred embodiment of the utility model, comprise that further described the 3rd driving mechanism comprises the 4th motor that drives described wrist swinging and the 5th motor that drives described mechanical paw folding.

In preferred embodiment of the utility model, further comprise between described support and described base and be provided with terminal box, described terminal box locks on described base by clamping screw.

In preferred embodiment of the utility model, further comprise between described terminal box and described base and also be provided with buffer gasket.

The utility model has solved the defect that exists in the background technology, and feeding mechanical hand flexibility ratio of the present utility model is higher, and driven nature is good, can realize rotation, translation, lifting, swing, folding various motion, can realize highly difficult feeding action.

The accompanying drawing explanation

Below in conjunction with drawings and Examples, the utility model is further illustrated.

Fig. 1 is the structural front view of preferred embodiment of the present utility model;

Fig. 2 is the structure side view of preferred embodiment of the present utility model;

In figure: 10, base, 11, clamping screw, 20, the large arm of manipulator, 30, manipulator forearm, 40, mechanical paw, 50, wrist, 60, support, 70, column, 80, flat arm, 90, terminal box, 100, packing ring, the 1, first motor, 2, the second motor, 3, the 3rd motor, the 4, the 4th motor, the 5, the 5th motor.

The specific embodiment

In conjunction with the accompanying drawings and embodiments the utility model is described in further detail now, these accompanying drawings are the schematic diagram of simplification, basic structure of the present utility model only is described in a schematic way, so it only show the formation relevant with the utility model.

As depicted in figs. 1 and 2, a kind of feeding mechanical hand, for the production of on line, transmitting material, comprise base 10, on base 10 is axial, be provided with successively the large arm 20 of manipulator, manipulator forearm 30, mechanical paw 40 and the wrist 50 that is connected mechanical paw 40, base 10 is provided with the first driving mechanism that the large arm 20 of driving device hand rotates in a circumferential direction and moves horizontally, the second driving mechanism that driving device arm 30 moves up and down, and driving device paw 40 swings and the 3rd driving mechanism of folding.

The first driving mechanism comprises support 60 and is arranged on the column 70 on support 60, column 70 is connected with the large arm 20 of manipulator by connecting a flat arm 80, support 60 is provided with and drives the first motor 1 that column 70 rotates in a circumferential direction, flat arm 80 and large vertical connection of arm 20 of manipulator, flat arm 80 is provided with the second motor 2 that the large arm 20 of driving device hand moves horizontally; Specifically the rotating shaft of the first motor 1 can be vertically connected on support 60, rotating shaft meshed gears with the first motor 1 is set on support 60, by gear drive, driving column 70 moves in a circle, the large arm 20 of column band dynamic flat arm and manipulator moves in a circle, the rotating shaft of the second motor 2 is by the shaft coupling connection wire rod, by screw mandrel, the rotation of the second motor 2 is converted into and moves horizontally, flat arm 80 is arranged on screw mandrel, can realize that flat arm 80 moves horizontally, the large arm 20 of flat arm 80 driving mechanical hand moves horizontally.

The second driving mechanism comprises three motor 3 of driving device arm 30 along large arm 20 liftings of manipulator, specifically can on the large arm 20 of manipulator, offer a chute, manipulator forearm 30 is placed in chute, mode by the 3rd motor 3 connection wire rods, 30 liftings of driving device arm, thus drive mechanical paw 40 liftings that are connected with manipulator forearm 30.

And the 3rd driving mechanism comprises the 4th motor 4 of driving wrist 50 swings and the 5th motor 5 of driving device paw 40 foldings, specifically can on wrist 50, connect with telescopic component, telescopic component is placed in deep-slotted chip breaker, by the 4th motor 4 and the combination of screw mandrel, drive wrist 50 swings, thereby drive the mechanical paw 40 that is connected with wrist 50, swing, opening and closing of mechanical paw 40 can be by the forward and reverse realization of the 5th motor 5.

The power line of above-mentioned each motor and control line all can be placed in terminal box 90, terminal box 90 can be arranged between support 60 and base 10, between terminal box 90 and base 10, also can establish buffer gasket 100, to alleviate the wearing and tearing between terminal box 90 and base 10, terminal box 90 can be by clamping screw 11 lockings on base 10.

The type of drive of above-mentioned each motor can realize by the PLC programming Control.

Feeding mechanical hand flexibility ratio of the present utility model is higher, and driven nature is good, can realize rotation, translation, lifting, swing, folding various motion, can realize highly difficult feeding action.

Above foundation desirable embodiment of the present utility model is enlightenment, and by above-mentioned description, the related personnel can, in the scope that does not depart from this utility model technological thought, carry out various change and modification fully.The technical scope of this utility model is not limited to the content on specification, must determine technical scope according to the claim scope.

Claims

1. feeding mechanical hand, comprise base, on described base, be provided with successively the wrist of the large arm of manipulator, manipulator forearm, mechanical paw and the described mechanical paw of connection, it is characterized in that: described base is provided with and drives the first driving mechanism that the large arm of described manipulator rotates in a circumferential direction and moves horizontally, drive the second driving mechanism that described manipulator forearm moves up and down, and the driving device paw swings and the 3rd driving mechanism of folding.

2. a kind of feeding mechanical hand according to claim 1, it is characterized in that: described the first driving mechanism comprises support and is arranged on the column on support, described column is connected with the large arm of described manipulator by connecting flat arm, described support is provided with and drives the first motor that described column rotates in a circumferential direction, described flat arm and vertical connection of the large arm of described manipulator, described flat arm are provided with and drive the second motor that the large arm of described manipulator moves horizontally.

3. a kind of feeding mechanical hand according to claim 2, it is characterized in that: described the second driving mechanism comprises three motor of driving device arm along the large arm lifting of described manipulator.

4. a kind of feeding mechanical hand according to claim 3, it is characterized in that: described the 3rd driving mechanism comprises the 4th motor that drives described wrist swinging and the 5th motor that drives described mechanical paw folding.

5. a kind of feeding mechanical hand according to claim 4, it is characterized in that: between described support and described base, be provided with terminal box, described terminal box locks on described base by clamping screw.

6. a kind of feeding mechanical hand according to claim 5, is characterized in that: between described terminal box and described base, also be provided with buffer gasket.