CN203696999U - Assembly line pick-up mechanical arm - Google Patents
Assembly line pick-up mechanical arm Download PDFInfo
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- CN203696999U CN203696999U CN201420101558.4U CN201420101558U CN203696999U CN 203696999 U CN203696999 U CN 203696999U CN 201420101558 U CN201420101558 U CN 201420101558U CN 203696999 U CN203696999 U CN 203696999U
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- linear arms
- fixed
- linear
- arm
- leading screw
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- 230000008878 coupling Effects 0.000 claims abstract description 7
- 238000010168 coupling process Methods 0.000 claims abstract description 7
- 238000005859 coupling reaction Methods 0.000 claims abstract description 7
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 10
- 238000004519 manufacturing process Methods 0.000 abstract 1
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Abstract
The utility model relates to industrial automation equipment, particularly to an automated mechanical arm. An assembly line pick-up mechanical arm comprises linear arms, a torsion arm, a base and a gripper. Every linear arm is composed of a bottom plate, a screw, a long guide rail, a square slider, a nut, a third servo motor and a coupling; the three linear arms are composed of a first linear arm, a second linear arm and a third linear arm; the fixing plate of the first linear arm is fixedly connected to the base; the base is fixed onto the floor; the gripper is fixedly connected to the output end of the torsion arm. The assembly line pick-up mechanical arm is applicable to carrying and conveying materials during a mechanical manufacturing process, is low in friction resistance, stable in operation, high in precision and long in service life and can be used for picking up workpieces. By means of compact structure layout, the assembly line pick-up mechanical arm can effectively control the external dimensions and obtain maximum running space.
Description
Technical field
The utility model relates to industrial automation equipment, more particularly, relates to a kind of automatic mechanical hand.
Background technology
Manipulator refers to some holding function that can imitate 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, and can under hostile environment, operate with protection personal safety, thereby be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Manipulator is mainly made up of hand, motion and control system three parts.Hand is the parts for grasping workpiece (or instrument), has various structures form, as clamp-type, holding type and absorbent-type etc. according to the shape, size, weight, material and the job requirements that are grasped object.Motion, makes hand complete various rotations (swing), mobile or compound motion to realize the action of regulation, changes the position and the posture that are grasped object.The self-movement modes such as the lifting of motion, flexible, rotation, are called the free degree of manipulator.Control system is by the control of the motor to the each free degree of manipulator, completes specific action.
But existing manipulator is often driven by motor, complex structure is expensive.
The life-span of existing manipulator is not long.
Utility model content
The purpose of this utility model is to provide a kind of streamline taking mechanical hand, the utility model is applicable in machine-building process, realize the carrying transmission of material, and frictional resistance is little, operate steadily, precision is high, the life-span is long, use the utility model streamline taking mechanical hand can picking up work piece, and complete the lifting of workpiece, flexible and spinfunction.
A kind of streamline taking mechanical hand, comprises linear arms, reverse arm, pedestal and paw;
Described linear arms comprises base plate, leading screw, long guideway, square slider, nut, the 3rd servomotor, shaft coupling; One end of described leading screw is connected with leading screw holder, one end is connected with leading screw supporting seat in addition, and described leading screw holder and described leading screw supporting seat are fixedly connected on described base plate; The projecting shaft of described the 3rd servomotor and described leading screw achieve a fixed connection by described shaft coupling; In the other one side of described base plate, be fixedly connected with described long guideway, on described long guideway, be flexibly connected square slider, described square slider below is fixed with fixed head; On described leading screw, be flexibly connected described nut, the outside of described nut is fixed with nut connecting plate, and the both sides of described nut connecting plate are fixed with riser, and described riser is fixed on described fixed head; Described leading screw is parallel with described long guideway;
The quantity of described linear arms is 3, comprises the first linear arms, the second linear arms, the 3rd linear arms; The fixed head of described the first linear arms is fixed on described pedestal, and described pedestal is fixed on ground;
Described the second linear arms is perpendicular to described the first linear arms, and the base plate of described the second linear arms is fixed on the fixed head of described the first linear arms; The fixed head of described the second linear arms is fixedly connected with the fixed head of described the 3rd linear arms; Described the 3rd linear arms is perpendicular to described the first linear arms, and described the 3rd linear arms is perpendicular to described the second linear arms;
Described reverse arm comprises the 4th servomotor and torsion decelerator, and the output shaft of described the 4th servomotor is connected to described torsion decelerator; Described paw is fixed on the output of described reverse arm;
Described reverse arm is fixed on the end of described the 3rd linear arms, and described paw is fixed on the output of described reverse arm; The axis of rotation of described reverse arm is parallel to described the 3rd linear arms, and the axis of rotation of described reverse arm is perpendicular to described the second linear arms, and the axis of rotation of described reverse arm is perpendicular to described the first linear arms.
Compare with conventional art, the beneficial effect of the utility model streamline taking mechanical hand is as follows:
Described pedestal is fixed on ground or miscellaneous equipment, realizes the installation of the utility model streamline taking mechanical hand is fixed.
The utility model streamline taking mechanical hand is arranged by compact structure, effectively controls appearance and size, and obtains maximum running space.Compare with the robot of traditional linear coordinate, the volume of the utility model streamline taking mechanical hand is little.
Traditional robot decelerator joint is expensive, compares with traditional articulated type industrial robot, and the described linear arms of the utility model streamline taking mechanical hand adopts ball-screw to add the version of guide rail, can obviously increase economic efficiency.
The arm of the utility model streamline taking mechanical hand comprises linear arms and reverse arm.Described linear arms has linear extendible function,, under the drive of described servomotor, can drive described linear arms stretch out or retract; Described reverse arm is connected on the end of described the 3rd linear arms, and described reverse arm possesses torsion function,, under the drive of described the 4th servomotor, can drive described paw to do clockwise or counterclockwise rotation.The arm of the utility model streamline taking mechanical hand possesses the motion control of 4 frees degree.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model streamline taking mechanical hand;
Fig. 2 is the structural representation of the utility model streamline taking mechanical hand;
Fig. 3 is the structural representation of the linear arm of the utility model streamline taking mechanical hand.
The specific embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail, but does not form any restriction of the present utility model, in accompanying drawing, similarly element numbers represents similar element.As mentioned above, the utility model provides a kind of guide tracked manipulator, for realizing crawl and the transfer of material.
Fig. 1, Fig. 2 are the structural representations of the utility model streamline taking mechanical hand, and Fig. 3 is the structural representation of the linear arm of the utility model streamline taking mechanical hand.
Streamline taking mechanical hand, comprises linear arms, reverse arm 1004, pedestal 336 and paw 120;
Described linear arms comprises base plate 210, leading screw 211, long guideway 219, square slider 220, nut 213, servomotor 218, shaft coupling 217; One end of described leading screw 211 is connected with leading screw holder 216, one end is connected with leading screw supporting seat 215 in addition, and described leading screw holder 216 and described leading screw supporting seat 215 are fixedly connected on described base plate 210; The projecting shaft of described servomotor 218 and described leading screw 211 achieve a fixed connection by described shaft coupling 217; In the other one side of described base plate 210, be fixedly connected with described long guideway 219, on described long guideway 219, be flexibly connected square slider 220, described square slider 220 belows are fixed with fixed head 221; On described leading screw 211, be flexibly connected described nut 213, the outside of described nut 213 is fixed with nut connecting plate 212, and the both sides of described nut connecting plate 212 are fixed with riser 214, and described riser 214 is fixed on described fixed head 221; Described leading screw 21 is parallel with described long guideway 219;
The quantity of described linear arms is 3, comprises the first linear arms 1001, the second linear arms 1002, the 3rd linear arms 1003; The fixed head 223 of described the first linear arms 1001 is fixed on described pedestal 336, and described pedestal 336 is fixed on ground;
Described the second linear arms 1002 is perpendicular to described the first linear arms 1001, and the base plate 212 of described the second linear arms 1002 is fixed on the fixed head 212 of described the first linear arms 1001; The fixed head 212 of described the second linear arms 1002 is fixedly connected with the fixed head 212 of described the 3rd linear arms 1003; Described the 3rd linear arms 1003 is perpendicular to described the first linear arms 1001, and described the 3rd linear arms 1003 is perpendicular to described the second linear arms 1002;
Described reverse arm 1004 comprises the 4th servomotor 304 and torsion decelerator 301, and the output shaft of described the 4th servomotor 304 is connected to described torsion decelerator 301; Described paw 120 is fixed on the output of described reverse arm 1004;
Described reverse arm 1004 is fixed on the end of described the 3rd linear arms 1003, and described paw 120 is fixed on the output of described reverse arm 1004; The axis of rotation of described reverse arm 1004 is parallel to described the 3rd linear arms 1003, and the axis of rotation of described reverse arm 1004 is perpendicular to described the second linear arms 1002, and the axis of rotation of described reverse arm 1004 is perpendicular to described the first linear arms 1001.
Finally, it should be pointed out that above embodiment is only the more representational example of the utility model.Obviously, the utility model is not limited to above-described embodiment, can also have many distortion.Any simple modification, equivalent variations and modification that every foundation technical spirit of the present utility model is done above embodiment, all should think and belong to protection domain of the present utility model.
Claims (1)
1. a streamline taking mechanical hand, is characterized in that composed as follows: comprise linear arms, reverse arm, pedestal and paw;
Described linear arms comprises base plate, leading screw, long guideway, square slider, nut, the 3rd servomotor, shaft coupling; One end of described leading screw is connected with leading screw holder, one end is connected with leading screw supporting seat in addition, and described leading screw holder and described leading screw supporting seat are fixedly connected on described base plate; The projecting shaft of described the 3rd servomotor and described leading screw achieve a fixed connection by described shaft coupling; In the other one side of described base plate, be fixedly connected with described long guideway, on described long guideway, be flexibly connected square slider, described square slider below is fixed with fixed head; On described leading screw, be flexibly connected described nut, the outside of described nut is fixed with nut connecting plate, and the both sides of described nut connecting plate are fixed with riser, and described riser is fixed on described fixed head; Described leading screw is parallel with described long guideway;
The quantity of described linear arms is 3, comprises the first linear arms, the second linear arms, the 3rd linear arms; The fixed head of described the first linear arms is fixed on described pedestal, and described pedestal is fixed on ground;
Described the second linear arms is perpendicular to described the first linear arms, and the base plate of described the second linear arms is fixed on the fixed head of described the first linear arms; The fixed head of described the second linear arms is fixedly connected with the fixed head of described the 3rd linear arms; Described the 3rd linear arms is perpendicular to described the first linear arms, and described the 3rd linear arms is perpendicular to described the second linear arms;
Described reverse arm comprises the 4th servomotor and torsion decelerator, and the output shaft of described the 4th servomotor is connected to described torsion decelerator; Described paw is fixed on the output of described reverse arm;
Described reverse arm is fixed on the end of described the 3rd linear arms, and described paw is fixed on the output of described reverse arm; The axis of rotation of described reverse arm is parallel to described the 3rd linear arms, and the axis of rotation of described reverse arm is perpendicular to described the second linear arms, and the axis of rotation of described reverse arm is perpendicular to described the first linear arms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420101558.4U CN203696999U (en) | 2014-02-26 | 2014-02-26 | Assembly line pick-up mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420101558.4U CN203696999U (en) | 2014-02-26 | 2014-02-26 | Assembly line pick-up mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203696999U true CN203696999U (en) | 2014-07-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420101558.4U Expired - Fee Related CN203696999U (en) | 2014-02-26 | 2014-02-26 | Assembly line pick-up mechanical arm |
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| Country | Link |
|---|---|
| CN (1) | CN203696999U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016183877A1 (en) * | 2015-05-21 | 2016-11-24 | 江苏比微曼智能科技有限公司 | Transfer manipulator |
| CN107775623A (en) * | 2017-09-04 | 2018-03-09 | 广东电网有限责任公司清远供电局 | A kind of crawler belt three-axis robot for switch cubicle operation |
| CN109397268A (en) * | 2018-12-24 | 2019-03-01 | 襄阳蓬达高新科技有限公司 | A kind of simple multi-joint manipulator |
-
2014
- 2014-02-26 CN CN201420101558.4U patent/CN203696999U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016183877A1 (en) * | 2015-05-21 | 2016-11-24 | 江苏比微曼智能科技有限公司 | Transfer manipulator |
| CN107775623A (en) * | 2017-09-04 | 2018-03-09 | 广东电网有限责任公司清远供电局 | A kind of crawler belt three-axis robot for switch cubicle operation |
| CN107775623B (en) * | 2017-09-04 | 2021-06-04 | 广东电网有限责任公司清远供电局 | Crawler three-axis robot for switch cabinet operation |
| CN109397268A (en) * | 2018-12-24 | 2019-03-01 | 襄阳蓬达高新科技有限公司 | A kind of simple multi-joint manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140709 Termination date: 20150226 |
|
| EXPY | Termination of patent right or utility model |