CN203738794U - Mechanical arm high in stability and accurate in positioning - Google Patents

Mechanical arm high in stability and accurate in positioning Download PDF

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Publication number
CN203738794U
CN203738794U CN201420068855.3U CN201420068855U CN203738794U CN 203738794 U CN203738794 U CN 203738794U CN 201420068855 U CN201420068855 U CN 201420068855U CN 203738794 U CN203738794 U CN 203738794U
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China
Prior art keywords
mechanical arm
timing belt
lifting moving
plate
moving plate
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Expired - Fee Related
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CN201420068855.3U
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Chinese (zh)
Inventor
包永军
孙汉明
庞超
陈卸件
方卫杰
冯传
王圣伟
管建华
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JINHUA ZHONGKE ZHILIAN INTELLIGENT TECHNOLOGY Co Ltd
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JINHUA ZHONGKE ZHILIAN INTELLIGENT TECHNOLOGY Co Ltd
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Priority to CN201420068855.3U priority Critical patent/CN203738794U/en
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Publication of CN203738794U publication Critical patent/CN203738794U/en
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Abstract

The utility model relates to a mechanical arm, in particular to a mechanical arm high in stability and accurate in positioning to overcome the defects that in the high speed operating process of a mechanical arm in the prior art, stability is poor and accurate positioning cannot be achieved. In the high speed production process, the mechanical arm can operate at a high speed and cannot shake in the high speed operation process, the stability is good, a product to be grabbed can be accurately positioned, and the grabbing range can be changed at any time. The lifting process of the mechanical arm can be more stable through a lifting device driven by two rods and a needle bearing installing base arranged on a linkage device, the effect of preventing a machine from shaking in the high speed operation process of the mechanical arm can be achieved, and the mechanical arm can carry out accurate positioning in the horizontal moving process according to the movement distance of a synchronous belt through the combination of the synchronous belt, a positioning block and a tensioning wheel.

Description

Stability is strong and can pinpoint manipulator
technical field
The utility model relates to a kind of manipulator, relates in particular to a kind of stability strong and can pinpoint manipulator.
Background technology
In modern production process, manipulator is widely used in each factory, the lifting drive of general manipulator is that single pole drives, be that driving force passes on lifting moving plate by an elevating lever, reach by the lifting moving of lifting moving plate the object that manipulator is moved up and down again, if patent announcement number is a kind of single-set, multi-station transfer manipulator of CN201346604Y, this manipulator comprises control device, control device control is arranged on drive unit and the slave unit of punch press both sides, drive unit and slave unit are realized X-direction by lifting moving workbench and horizontal type arm band dynamic load head and are moved with Z-direction and move, capture or put down workpiece.After although this manipulator has been realized for metal parts single operation punching press simultaneously on separate unit punch press and has been completed, a workpiece of workpiece handling on separate unit upper die of punching press tool (operation) is also started to the object that punch press carries out punching press next time automatically more simultaneously, but in picture from behind and description, can find out that this manipulator is that single pole drives, the manipulator that this single pole drives, in use the stability of device is poor, and the pressure that elevating lever bears in lifting process is large, be easy to strain, cause service life short.Simultaneously, the linkage moving horizontally of the manipulator in prior art is generally the structure of belt or chain class, and the combination stability bad adaptability of drive unit and basal disc, this structure is moving horizontally the poor accuracy of the location of manipulator in process, be easy to produce position skew, cause locating mistake, produce production error, particularly be not suitable with high-speed production flow process, quite large to production efficiency restriction.
Summary of the invention
In order to overcome in the manipulator high-speed running in prior art poor stability and can not pinpoint shortcoming, provide a kind of stability strong and can pinpoint manipulator, in production process at a high speed, can reach and run up, and also there will not be and rock in the process that runs up, good stability, can accurately locate the object that captures product, and the scope capturing can convert at any time.
The utility model is realized by following technology: a kind of stability is strong and can pinpoint manipulator, comprises drive unit, lifting moving plate, mechanical arm, linkage and driving box;
Described driving box is positioned at bottom position, in driving box, be provided with the drive unit that oscilaltion power is provided, drive unit extends upwardly to outside driving box through elevating lever and is connected with a lifting moving plate that is subject to driving force to carry out oscilaltion at the top of elevating lever, lifting moving plate connects the linkage that carries out horizontal drive, and linkage is subject to linkage to drive the mechanical arm that carries out horizontal movement by manipulator installing plate one of the each connection of the right and left forward;
Described driving box is positioned at bottom position, be a metal or the cuboid box of other corrosion-resistant materials, the head of two elevating levers on drive unit overlaps anti-loaded tooth adjusting bolt, alignment pin and connecting rod locating piece, two elevating levers extend upwardly to casing outward also by anti-tooth adjusting bolt, alignment pin and connecting rod locating piece are upwards provided with the lifting moving plate that driven up and down by lifting driving force, lifting moving plate is upwards provided with a cover plate, between driving box top and cover plate, be arranged at intervals with two or two with above metal or the backstay of other material materials, in use for increasing the stability of manipulator.Near the end positions of linkage, a needle bearing mount pad that presents inverted L shape is respectively set on driving box top, the barb position of needle bearing mount pad engages mutually with linkage outside, in manipulator high-speed operation process, also can prevent linkage rolling errant, reach the object of stablizing linkage.On driving box, just the casing place of mechanical arm is arranged the casing of a limited location track, limit track is a symmetrical stairstepping, linkage and drive unit carry out the spatial limitation of upper and lower horizontal movement in the casing of limited location track at driving device arm, the arranging of limit track can make manipulator upper and lower and move horizontally process in carry out the control of displacement, reach and prevent the excessive object of mechanical arm displacement.
A. described so-called drive unit is that two bars drive, comprise the transmission device installing plate that is positioned at bottom, transmission device installing plate both sides respectively arrange a stroke adjustment cam connecting by connecting rod, stroke adjustment cam is outwards respectively provided with a vertical elevating lever, elevating lever bottom is fixed with stroke adjustment piece by alignment pin, at the bottom of elevating lever bar, position is set with positive and negative tooth locking nut, positive and negative tooth adjusting nut, positive tooth adjusting bolt regulates and controls lifting distance, in driving process, connecting rod drives stroke adjustment cam to regulate the size of adjustable height by stroke adjustment piece and alignment pin, be elevating lever by driving force transmission again, elevating lever carries out lift adjustment by adjusting nut and screw rod.
B. described so-called lifting moving plate is provided with four or more the metal that runs through lifting moving plate or the vertical guide pillar of other materials, vertically guide pillar head is fixed on driving box top, afterbody is fixed on cover plate bottom position, vertically on guide pillar, be set with a cylindrical linear bearing, the height of linear bearing is less than the half of vertical guide pillar height, can suitably regulate and control according to the height of lifting according to height, lifting moving plate under the active force of bottom elevation bar in the process of the track lifting of vertical guide pillar, in the time rising to linear bearing and reach cover plate, reach the limit of rising, lifting moving plate stops rising, thereby prevent in process of production because fault causes the danger excessively de-orbiting of rising of lifting moving plate.The middle part of lifting moving plate is provided with motor drum in-phase, traversing synchronizing wheel and two Timing Belt regulating wheels, by the setting of these regulating wheels, carries out the connection of linkage and lifting moving plate, reaches the object of manipulator being carried out to accurate level of control displacement.
Described linkage is positioned at the plate side position before lifting moving plate, Timing Belt in linkage is connected with lifting moving plate plate side, moving beam covers and is fixed on the outside of Timing Belt, moving beam is provided with forward horizontal type arm, Timing Belt is wrapped in the motor drum in-phase of the distribution triangular in shape at the middle part that is positioned at lifting moving plate, on traversing synchronizing wheel and two Timing Belt regulating wheels, and carry out horizontal drive by the tensioning regulation and control of three-wheel, Timing Belt horizontal drive synchronously covers the moving beam in outside, Timing Belt end to end two ends is provided with Timing Belt fixed block and is fixed, one end of Timing Belt is provided with a locating piece, locating piece is for card and Timing Belt movable block number, in the time that the movable block number of Timing Belt reaches the setting value of locating piece, fixed block blocks Timing Belt, make manipulator stop horizontal movement.
Described Timing Belt is to consist of equidistant level connection joint between two horizontal stepped tooth together, the side of Timing Belt presents dentation, the Timing Belt of dentation is moving left and right in process, after reaching certain distance, positioned by locating piece, by Timing Belt fixed block, Timing Belt is blocked, reach accurate control manipulator and move horizontally the object of distance.
Described mechanical arm comprises mechanical arm installing plate, horizontal type arm and sucker composition;
A. the L shaped shape that described so-called mechanical arm installing plate is metal or other materials, the two ends of mechanical arm installing plate are provided with two or plural circular hole, by utilizing bolt that one end of mechanical arm installing plate is fixedly connected on two of Timing Belt or three adjacent sawtooth, the other end is also bolted fixes a horizontal type arm.
B. the elongate in shape that described so-called horizontal type arm is metal or other materials, its head is bolted mechanical arm installing plate, afterbody is provided with the billet of a horizontal identical material, afterbody is rendered as cross shape, the length of horizontal type arm can be adjusted according to production requirement, four tail end positions of the cross shape of horizontal type arm afterbody are hollow out state, four hollow out positions are respectively a strip guide rail, a upright pneumatic tube is respectively set in each strip guide rail, upright pneumatic tube can carry out front and back and slides and fix in strip rail type, when slip, can carry out four unified distances slides or the slip of skimble-scamble any distance, thereby reach the scope that captures product of controlling, four upright pneumatic tube afterbodys connect by annular pneumatic tube, be formed with the sucker of suction,
C. described so-called sucker, for the circular ring of plastic cement or other materials, by the tail end of connector upright pneumatic tube as screw, buckle etc. are connected and fixed on, four upright pneumatic tubes form annular by another root pneumatic tube and connect, when use, connect aerostatic press by annular pneumatic tube, make formation vacuum state in upright pneumatic tube, and the sucker of afterbody forms suction, catch product.
As preferably, the horizontal billet diameter of described mechanical arm afterbody between mechanical arm 1/2 to 2/3 between.
As preferably, sucker also can capture product by magnetic force, only need change pneumatic tube and sucker into little iron prop and magnet.
As preferably, described lifting moving plate and cover plate are parallel to each other.
As preferably, described in be positioned at manipulator top cover plate be rectangle or square.
As preferably, the backstay between described driving box and cover plate is fixed connection by pad.
As preferably, described in run through lifting moving plate vertical guide pillar by pad, driving box and cover plate are fixed to connection.
In sum, the utility model compared with prior art tool has the following advantages: the utility model compact conformation, drive by two bars, the precise positioning of needle bearing mount pad and Timing Belt is set on linkage, reach and in use made manipulator lifting process more stable, even if also can reach the effect that prevents machine shake under the condition of manipulator high-speed running in operation process simultaneously, and by the precise positioning setting of Timing Belt, manipulator is located in the process moving horizontally more accurate, reach manipulator accuracy in process of production higher, the better object of production effect.
brief description of the drawings
Fig. 1 is structural representation of the present utility model;
Fig. 2 is structural representation while analysing and observe of the present utility model;
Fig. 3 is the schematic side view of part-structure of the present utility model;
Structural representation when Fig. 4 is of the present utility model overlooking;
Fig. 5 is the structural representation of drive unit of the present utility model;
Fig. 6 is the structural representation that drive unit of the present utility model is connected with lifting moving plate;
Fig. 7 is the perspective view of the utility model mechanical arm;
Fig. 8 is the plan structure schematic diagram of the utility model mechanical arm;
Fig. 9 is the structural representation of the casing of the limited location track on driving box of the present utility model;
Figure 10 is the top view of Timing Belt of the present utility model;
Figure 11 is the side view of the utility model Timing Belt;
Description of reference numerals: driving box 1, drive unit 2, elevating lever 3, lifting moving plate 4, cover plate 5, linkage 6, manipulator installing plate 7, mechanical arm 8, backstay 9, needle bearing mount pad 10, limit track 11, connecting rod locating piece 12, transmission device installing plate 13, connecting rod 14, stroke adjustment cam 15, positive and negative tooth locking nut 16, positive and negative tooth adjusting nut 17, positive tooth adjusting bolt 18, anti-tooth adjusting bolt 19, alignment pin 20, stepped tooth 21, vertically guide pillar 22, linear bearing 23, motor drum in-phase 24, traversing synchronizing wheel 25, Timing Belt regulating wheel 26, moving beam 27, Timing Belt 28, Timing Belt fixed block 29, locating piece 30, horizontal type arm 31, sucker 32, circular hole 33, bolt 34, strip guide rail 35, upright pneumatic tube 36, the pneumatic tube 37 of annular, stroke adjustment piece 38.
detailed description of the invention
Below by embodiment, by reference to the accompanying drawings, the technical solution of the utility model is described in further detail:
Embodiment: as depicted in figs. 1 and 2, a kind of stability is strong and can pinpoint manipulator, comprises driving box 1, drive unit 2, lifting moving plate 4, cover plate 5, linkage 6 and mechanical arm 8.Driving box 1 is positioned at bottom position, the interior placement drive unit 2 of driving box 1, the elevating lever 3 of drive unit 2 extends upwardly to driving box 1 top and is fixedly connected with lifting moving plate 4, the top that lifting moving plate 4 extends is upwards provided with a cover plate 5, lifting moving plate 4 plate side forward connects linkage 6, and linkage 6 respectively connects a mechanical arm 8 by mechanical arm installing plate 7 at the right and left.
As Fig. 3, shown in Fig. 4 and Fig. 9, driving box 1 is positioned at the bottom position of mechanical arm 8, it is the cuboid box of a metal or other materials, the head of two elevating levers 3 on drive unit 2 is by arranging anti-tooth adjusting bolt 19, alignment pin 20 and connecting rod locating piece 12 are upwards connected with the lifting moving plate 4 that driven up and down by lifting driving force, between the cover plate 5 on driving box 1 top and lifting moving plate 4 tops, be arranged at intervals with two metals or the backstay of other materials 9, in use can be for increasing the stability of the mechanical arm 8 in oscilaltion process.Near the end positions of linkage 6, a needle bearing mount pad 10 that presents inverted L shape is respectively set on driving box 1 top, the barb position of needle bearing mount pad 10 engages mutually with linkage 6, in running up process, mechanical arm 8 also can prevent that linkage 6 from shaking errant, reaches the object of stablizing linkage 6.On driving box 1, just the casing place of mechanical arm 8 is arranged the casing of a limited location track 11, limit track 11 is a symmetrical stairstepping, the spatial limitation that linkage 6 and drive unit 2 carry out upper and lower horizontal movement at driving device arm 8 is in the casing of limited location track 11, the arranging of limit track 11 can make mechanical arm 8 upper and lower and move horizontally process in carry out the control of displacement, reach and prevent the excessive object of mechanical arm 8 displacement.
As shown in Figure 5 and Figure 6, lowering or hoisting gear comprises the drive unit 2 that is positioned at driving box 1 bottom and the lowering or hoisting gear that is positioned at driving box 1 top.In use procedure, drive unit 2 is driven and is made elevating lever 3 carry out evenly lifting up and down by the mechanical force of the gear of bottom, and elevating lever 3 upwards connects lifting moving plate 4 and carries out interlock lifting, reaches the object that mechanical arm 8 is moved up and down.Drive unit 2 is that two bars drive, comprise the transmission device installing plate 13 that is positioned at bottom, transmission device installing plate 13 both sides respectively arrange a stroke adjustment cam 15 connecting by metal or other material connecting rods 14, stroke adjustment cam 15 is outwards respectively provided with a vertical elevating lever 3, elevating lever 3 bottoms are fixed with stroke adjustment piece 38 by alignment pin 20, at the bottom of elevating lever 3 bars, position is set with positive and negative tooth locking nut 16, positive and negative tooth adjusting nut 17, positive tooth adjusting bolt 18 regulates and controls lifting distance, connecting rod 14 drives stroke adjustment piece 38 interlocks that elevating lever 3 is carried out to oscilaltion,
Position, 4 four angles of lifting moving plate is provided with runs through the metal of lifting moving plate 4 or the vertical guide pillar 22 of other materials, four vertical guide pillar 22 heads are fixed on driving box 1, afterbody is fixed on cover plate 5, vertically cylindrical linear bearing 23 of the last suit of guide pillar 22, the height of linear bearing 23 is 2/3 of vertical guide pillar 22 height, linear bearing 23 can suitably be exchanged according to the height of lifting, lifting moving plate 4 under the active force of bottom elevation bar 3 in the process of the track lifting of vertical guide pillar 22, in the time rising to linear bearing 23 and encounter cover plate 5, reach the limit of rising, thereby prevent in process of production because fault causes lifting moving plate 4 danger excessively de-orbiting of rising.The middle part of lifting moving plate 4 is provided with motor drum in-phase 24, traversing synchronizing wheel 25 and two Timing Belt regulating wheels 26, Timing Belt 28 is wrapped on these regulating wheels, by the setting of these regulating wheels, Timing Belt 28 is carried out to horizontal drive, reach the object that mechanical arm 8 is moved horizontally.
As shown in Figure 10 and Figure 11, linkage 6 is positioned at the plate side position of lifting moving plate 4, Timing Belt 28 in linkage 6 is connected with lifting moving plate 4 sides, moving beam 27 covers Timing Belt 28 in outer fix, Timing Belt 28 end to end two ends is provided with Timing Belt fixed block 29, and one end of Timing Belt 28 is provided with a locating piece 30.Timing Belt 28 is for consisting of equidistant level connection joint between two horizontal stepped tooth 21 together, the side of Timing Belt 28 presents dentation, the Timing Belt 28 of dentation is moving left and right in process, after reaching certain distance, positioned by locating piece 30, by Timing Belt fixed block 29, Timing Belt 28 is blocked, reach accurate control mechanical arm 8 and move horizontally the object of distance.
As shown in Figure 7 and Figure 8, mechanical arm 8 comprises that mechanical arm installing plate 7, horizontal type arm 31 and sucker 32 form.Mechanical arm installing plate 7 is the L shaped shape of metal or other materials, the two ends of mechanical arm installing plate 7 are provided with two or plural circular hole 33, utilize connecting bolt 34 by circular hole 33, one end of mechanical arm installing plate 7 to be fixedly connected on two of Timing Belt 28 or three adjacent sawtooth, the other end is also connected and fixed a horizontal type arm 31 by bolt 34.Horizontal type arm 31 is the elongate in shape of metal or other materials, its head connects mechanical arm installing plate 7 by bolt 34, afterbody is provided with the billet of a horizontal identical material, afterbody is rendered as cross shape, the length of horizontal type arm 31 can be adjusted according to production requirement, criss-cross four tail end positions of horizontal type arm 31 afterbodys are hollow out state, four hollow out positions are respectively a strip guide rail 35, a upright pneumatic tube 36 is respectively set in each strip guide rail 35, upright pneumatic tube 36 can be unified or front and back slip arbitrarily and fixing in strip guide rail 35 types, thereby reach the scope that captures product of controlling, four upright pneumatic tube 36 afterbodys connect the sucker 32 that forms suction by annular pneumatic tube 37, sucker 32 is the circular ring of plastic cement or other materials, by the tail end of connector upright pneumatic tube as screw, buckle etc. are connected and fixed on, four upright pneumatic tubes 36 form annular by annular pneumatic tube 37 and connect, when use, connect aerostatic press by annular pneumatic tube 37, make 36 formation vacuum states in upright pneumatic tube, and the sucker 32 of afterbody forms suction.Mechanical arm 8 carries out upwards or downwards arriving product place by elevating lever 3 under the driving of drive unit 2, utilize the suction of sucker 32 to catch after product, mechanical arm 8 rises, turn left or turn right by the Timing Belt 28 interlock mechanical arms 8 on linkage 6 and move to after certain distance, product is placed on behind the position of appointment, by linkage 6, mechanical arm 8 is moved horizontally to original position again, repeat above action, can reach of the present utility model by product machinery and the precise and stable technique effect that captures and put, the utility model is in carrying simultaneously, loading and unloading, hot forging material loading etc. all can use.

Claims (6)

1. ?a kind of stability is strong and can pinpoint manipulator, it is characterized in that: comprise driving box (1), drive unit (2), lifting moving plate (4), cover plate (5), linkage (6) and mechanical arm (8);
Described driving box is positioned at bottom position, in driving box, be provided with drive unit, drive unit extends upwardly to outside drive case by elevating lever (3) and is connected with a lifting moving plate that is subject to driving force to carry out oscilaltion at top, lifting moving plate connects and carries out the linkage of horizontal drive, and linkage is subject to linkage to drive the mechanical arm that carries out horizontal movement by manipulator installing plate each side connecting one;
Described driving box is a cuboid box, in casing, be provided with drive unit, the head of two elevating levers of drive unit both sides overlaps anti-loaded tooth adjusting bolt (19), alignment pin (20) and connecting rod locating piece (12), two elevating levers extend upwardly to casing outward also by anti-tooth adjusting bolt, alignment pin and connecting rod locating piece are provided with the lifting moving plate that is subject to lifting driving force at top, lifting moving plate is upwards provided with a cover plate, between driving box top and cover plate, be arranged at intervals with more than two or two backstay (9), on driving box top near the each affixed needle bearing mount pad (10) that presents inverted L shape of the end positions of linkage, the barb position of needle bearing mount pad engages mutually with the outer fix of the linkage of horizontal drive, on driving box, just the casing place to mechanical arm arranges the casing of a limited location track (11), limit track is a symmetrical stairstepping, linkage and drive unit in the spatial limitation of driving device arm motion in the casing of limited location track,
A. described drive unit is that two bars drive, comprise the transmission device installing plate (13) that is positioned at bottom, transmission device installing plate both sides respectively arrange a stroke adjustment cam (15) connecting by connecting rod (14), a vertical elevating lever is respectively set on stroke adjustment cam, elevating lever bottom is fixed with stroke adjustment piece (38) by alignment pin, at the bottom of elevating lever bar, position is set with positive and negative tooth locking nut (16), positive and negative tooth adjusting nut (17), positive tooth adjusting bolt (18), connecting rod drives stroke adjustment cam to regulate the size of adjustable height by stroke adjustment piece and alignment pin, be elevating lever by driving force transmission again, elevating lever connects lifting moving plate and moves up and down,
B. on described lifting moving plate, be provided with four or more the vertical guide pillar (22) that runs through lifting moving plate, vertically guide pillar head is fixed in the tip position of driving box, vertically guide pillar afterbody is fixed in the bottom position of cover plate, vertically on guide pillar, be set with a cylindrical linear bearing (23), the height of linear bearing is less than the half of vertical guide pillar height, and the middle part of lifting moving plate is provided with motor drum in-phase (24), traversing synchronizing wheel (25) and two Timing Belt regulating wheels (26);
Described linkage is positioned at the plate side position before lifting moving plate, Timing Belt (28) in linkage is connected with lifting moving plate plate side, moving beam (27) covers and is fixed on the outside of Timing Belt, moving beam is provided with forward horizontal type arm, Timing Belt is wrapped in the motor drum in-phase of the distribution triangular in shape at the middle part that is positioned at lifting moving plate, on traversing synchronizing wheel and two Timing Belt regulating wheels, and carry out horizontal drive by the tensioning regulation and control of three-wheel, Timing Belt horizontal drive synchronously covers the moving beam in outside, the two ends end to end of Timing Belt are provided with Timing Belt fixed block (29) and are fixed, one end of Timing Belt is provided with the locating piece (30) of a card and Timing Belt movable block number,
Described Timing Belt is to consist of equidistant level connection joint between two horizontal stepped tooth (21) together;
Described mechanical arm comprises mechanical arm installing plate, horizontal type arm (31) and sucker (32);
A. described mechanical arm installing plate is L shaped shape, the two ends of mechanical arm installing plate are provided with two or plural circular hole (33), mechanical arm installing plate one end is fixedly connected on moving beam, and the mechanical arm installing plate other end is fixedly connected with a horizontal type arm;
B. described horizontal type arm be metal or elongate in shape, its head is fixedly connected with mechanical arm installing plate, afterbody is provided with a horizontal short slab, afterbody presents cross shape, four tail end positions of the cross shape of horizontal type arm afterbody are hollow out state, four hollow out positions are respectively a strip guide rail (35), a upright pneumatic tube is respectively set in each strip guide rail, four upright pneumatic tube afterbodys arrange plastic cement or the sucker of circular ring-type, and connect by annular pneumatic tube (37).
2. ?a kind of stability according to claim 1 is strong and can pinpoint manipulator, it is characterized in that, the horizontal billet diameter of described horizontal type arm afterbody between mechanical arm 1/2 to 2/3 between.
3. ?a kind of stability according to claim 1 is strong and can pinpoint manipulator, it is characterized in that, described sucker is arranged to magnetic force and is captured.
4. ?a kind of stability according to claim 1 and 2 is strong and can pinpoint manipulator, it is characterized in that, described lifting moving plate and cover plate are parallel to each other.
5. ?a kind of stability according to claim 3 is strong and can pinpoint manipulator, it is characterized in that, described in be positioned at manipulator top cover plate be rectangle or square.
6. ?a kind of stability according to claim 3 is strong and can pinpoint manipulator, it is characterized in that, backstay between described driving box and cover plate is fixed connection by pad, and the vertical guide pillar that runs through lifting moving plate is fixed connection by pad and driving box and cover plate.
CN201420068855.3U 2014-02-18 2014-02-18 Mechanical arm high in stability and accurate in positioning Expired - Fee Related CN203738794U (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016070645A1 (en) * 2014-11-08 2016-05-12 江苏新技机械有限公司 Wire coil conveying mechanical arm
CN105773588A (en) * 2016-05-10 2016-07-20 无锡市强通机械有限公司 Automatic positioning and grasping device for plate
CN104526693B (en) * 2014-11-05 2017-06-13 东莞市承恩自动化设备有限公司 Single-machine multi-station stamping manipulator
CN107838313A (en) * 2017-12-08 2018-03-27 孙丽艳 The manipulator and collaboration working method of quick crawl sheet workpiece
CN108818714A (en) * 2018-09-10 2018-11-16 无锡铭方科技有限公司 A kind of circuit soft board auto-tensioning detection device
CN109702723A (en) * 2019-02-28 2019-05-03 广东力顺源智能自动化有限公司 A kind of mechanical arm
CN111312639A (en) * 2020-02-27 2020-06-19 至微半导体(上海)有限公司 Mechanical arm device and method for reducing shaking and vibration of mechanical arm device

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104526693B (en) * 2014-11-05 2017-06-13 东莞市承恩自动化设备有限公司 Single-machine multi-station stamping manipulator
WO2016070645A1 (en) * 2014-11-08 2016-05-12 江苏新技机械有限公司 Wire coil conveying mechanical arm
CN105773588A (en) * 2016-05-10 2016-07-20 无锡市强通机械有限公司 Automatic positioning and grasping device for plate
CN107838313A (en) * 2017-12-08 2018-03-27 孙丽艳 The manipulator and collaboration working method of quick crawl sheet workpiece
CN108818714A (en) * 2018-09-10 2018-11-16 无锡铭方科技有限公司 A kind of circuit soft board auto-tensioning detection device
CN108818714B (en) * 2018-09-10 2023-07-28 无锡铭方科技有限公司 Automatic tensioning detection device for circuit flexible board
CN109702723A (en) * 2019-02-28 2019-05-03 广东力顺源智能自动化有限公司 A kind of mechanical arm
CN111312639A (en) * 2020-02-27 2020-06-19 至微半导体(上海)有限公司 Mechanical arm device and method for reducing shaking and vibration of mechanical arm device
CN111312639B (en) * 2020-02-27 2022-03-18 至微半导体(上海)有限公司 Mechanical arm device and method for reducing shaking and vibration of mechanical arm device

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