CN204036468U - A kind of robot arm - Google Patents
A kind of robot arm Download PDFInfo
- Publication number
- CN204036468U CN204036468U CN201420371479.5U CN201420371479U CN204036468U CN 204036468 U CN204036468 U CN 204036468U CN 201420371479 U CN201420371479 U CN 201420371479U CN 204036468 U CN204036468 U CN 204036468U
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- CN
- China
- Prior art keywords
- mechanical finger
- robot
- robot carriage
- ring flange
- carriage
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Abstract
The utility model describes a kind of robot arm, it comprises robot carriage, be provided with a drive motors at the back side of robot carriage, rotatingly in the front of robot carriage be provided with a ring flange, the output shaft of drive motors is connected with ring flange through after robot carriage; Ring flange is provided with a connecting rod, and one end of connecting rod is connected with ring flange by bearing pin, and the other end and the straight pin be arranged on robot carriage of connecting rod are rotatably connected; Described straight pin is slidably arranged in the chute in the middle part of robot carriage, straight pin is also connected with left mechanical finger and right mechanical finger, left mechanical finger and right mechanical finger are also rotatably connected respectively by the rotating shaft of correspondence and the upper end of robot carriage, are also connected with a spring between left mechanical finger and right mechanical finger.Robot arm of the present utility model improves flexibility and the stability of equipment manipulation, and control simple, fault rate is lower, maintains also very convenient.
Description
Technical field
The utility model relates to a kind of machining auxiliary equipment, is specially a kind of robot arm, belongs to mechanical equipment technical field.
Background technology
Along with robot device's application is in the industrial production more and more extensive, the robot device of various pattern also arises at the historic moment.Due to can raising production precision by a relatively large margin and efficiency, also have certain effect for reduction production cost, therefore a lot of industry is more ready to have employed the robot device of automation when manufacturing a product simultaneously.Such as, not only can be fixed larger workpiece and movement fast by robot arm, whole work flow can also be made to operate according to predetermined time, reach the object of enhancing productivity with this.But existing robot arm configuration is relatively simple, and function is also comparatively single, can only do the most basic action, like this on whole process line, depends merely on the operation that robot arm still cannot complete needs, still needs human assistance.In addition, the manipulation flexibility of existing robot arm also has very large deficiency, and the reaction speed for instruction is comparatively slow, particularly there is larger hysteresis quality for multiple continual command, and this is also the problem needing to solve.
Summary of the invention
For above-mentioned deficiency of the prior art, main purpose of the present utility model is to solve the poor problem of existing current robot arm flexibility, and provides one to manipulate robot arm flexibly.
The technical solution of the utility model: a kind of robot arm, it is characterized in that, comprise robot carriage, a drive motors is installed at the back side of described robot carriage, rotatingly in the front of described robot carriage be provided with a ring flange, the output shaft of described drive motors is connected with ring flange through after robot carriage; Described ring flange is provided with a connecting rod, and one end of described connecting rod is connected with ring flange by bearing pin, and the other end and the straight pin be arranged on robot carriage of connecting rod are rotatably connected; Described straight pin is slidably arranged in the chute in the middle part of robot carriage, described straight pin is also connected with left mechanical finger and right mechanical finger, described left mechanical finger and right mechanical finger are also rotatably connected respectively by the rotating shaft of correspondence and the upper end of robot carriage, are also connected with a spring between described left mechanical finger and right mechanical finger.
Optimally, be separately installed with one piece of liner in the inner side of described left mechanical finger and right mechanical finger, the hemispherical shape of middle part for caving inward of described liner.The frictional force of mechanical finger when gripping objects can be increased by described liner, thus play increase chucking power, prevent the effect of object landing.
Optimally, described robot carriage is T-shaped block structure, and described drive motors is bolted on robot carriage.Here robot carriage being designed to T-type structure is conveniently install two mechanical fingers, and particularly both sides, T-shaped piece of top can be connected with mechanical finger very easily, can reduce installation operation easier like this.
Optimally, described left mechanical finger is connected with left branching rod, right mechanical finger is connected with right pole, described left mechanical finger is rotatably connected by left branching rod and straight pin, and described right mechanical finger is rotatably connected by right pole and straight pin; Described left branching rod is identical with the length of right pole.
Relative to prior art, the utility model has following beneficial effect:
1, robot arm of the present utility model adopts the linked manner of ring flange and connecting rod drive separating of two mechanical fingers opened and close, the flexibility of equipment manipulation can not only be improved like this, the clamping dynamics of arm can also be strengthened, improve stability when arm uses.
2, control simply, fault rate is lower, is conducive to ensureing the sustainability of producing, and then improves production efficiency.
3, easy maintenance, owing to being all detachable connection between all parts, like this when some component failure, only need be changed, so also significantly be reduced the cost of maintenance.
Accompanying drawing explanation
Fig. 1 is the front view of a kind of robot arm of the utility model.
Fig. 2 is the left view of Fig. 1.
In figure, 1-robot carriage, 2-drive motors, 3-ring flange, 4-connecting rod, 5-bearing pin, 6-straight pin, 7-chute, 8-left mechanical finger, 9-right mechanical finger, 10-rotating shaft, 11-spring, 12-liner, 13-left branching rod, 14-right pole.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
As depicted in figs. 1 and 2, the utility model describes a kind of robot arm, and it comprises robot carriage 1, and described robot carriage 1 is T-shaped block structure, and robot carriage 1 is provided with multiple installing hole.Be provided with a drive motors 2 at the back side of described robot carriage 1, described drive motors 2 is bolted on robot carriage 1.Here drive motors 2 have employed existing motor device, can select micromachine in the market.Rotatingly in the front of described robot carriage 1 be provided with a ring flange 3, the output shaft of described drive motors 2 is connected with ring flange 3 through after robot carriage 1; When drive motors 2 works, drive motors 2 will drive ring flange 3 synchronous axial system.Described ring flange 3 is provided with a connecting rod 4, and one end of described connecting rod 4 is connected with ring flange 3 by bearing pin 5, and the other end and the straight pin 6 be arranged on robot carriage 1 of connecting rod 4 are rotatably connected.Described straight pin 6 is slidably arranged in the chute 7 in the middle part of robot carriage 1, and described chute 7 is vertically arranged, and straight pin 6 can slide up and down in chute 7.Described straight pin 6 is also connected with left mechanical finger 8 and right mechanical finger 9, described left mechanical finger 8 and right mechanical finger 9 are also rotatably connected with the upper end of robot carriage 1 respectively by the rotating shaft 10 of correspondence, when mounted, described left mechanical finger 8 and right mechanical finger 9 are symmetrical arranged, between described left mechanical finger 8 and right mechanical finger 9, be also connected with a spring 11, the chucking power of manipulator can be strengthened by spring 11.
See Fig. 1, be separately installed with one piece of liner 12 in the inner side of described left mechanical finger 8 and right mechanical finger 9, the hemispherical shape of middle part for caving inward of described liner 12.Here liner 12 can adopt quality of rubber materials, can increase the frictional force between gripping object and manipulator by the effect of liner 12.See Fig. 1 and Fig. 2, described left mechanical finger 8 is connected with left branching rod 13, right mechanical finger 9 is connected with right pole 14, and described left mechanical finger 8 is rotatably connected by left branching rod 13 and straight pin 6, and described right mechanical finger 9 is rotatably connected with straight pin 6 by right pole 14; Described left branching rod 13 is identical with the length of right pole 14.Here can strengthen the interlock flexibility of two mechanical fingers by arranging left and right pole, making it be not easy to block, rotating more simultaneously.
Operation principle: when using robot arm of the present utility model, start drive motors 2, drive ring flange 3 rotates by drive motors 2, the connecting rod 4 be connected with ring flange 3 is pushed, connecting rod 4 promotes left branching rod 13 and right pole 14 again respectively, and then drives left mechanical finger 8 and right mechanical finger 9 to produce movement forward or backward; Because left mechanical finger 8 is connected with robot carriage 1 respectively by rotating shaft 10 with right mechanical finger 9, therefore left mechanical finger 8 and right mechanical finger 9 are by respectively around respective axis of rotation, the clamp port that left like this mechanical finger 8 and right mechanical finger 9 form just defines and opens or closed action, and under the pulling of spring 11, by tight for parts to be processed clamping, the dynamics of its clamping determined by the power output of drive motors 2.
It should be noted that, above embodiment is only in order to illustrate technical solutions of the utility model but not restriction technologies scheme, although applicant is explained in detail the utility model with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, those amendments that technical solutions of the utility model are carried out or equivalently to replace, aim and the scope of the technical program can not be departed from, all should be encompassed in the middle of the utility model right.
Claims (4)
1. a robot arm, it is characterized in that, comprise robot carriage (1), a drive motors (2) is installed at the back side of described robot carriage (1), rotatingly in the front of described robot carriage (1) be provided with a ring flange (3), the output shaft of described drive motors (2) is connected with ring flange (3) afterwards through robot carriage (1); Described ring flange (3) is provided with a connecting rod (4), and one end of described connecting rod (4) is connected with ring flange (3) by bearing pin (5), and the other end and the straight pin (6) be arranged on robot carriage (1) of connecting rod (4) are rotatably connected; Described straight pin (6) is slidably arranged in the chute (7) at robot carriage (1) middle part, described straight pin (6) is also connected with left mechanical finger (8) and right mechanical finger (9), described left mechanical finger (8) and right mechanical finger (9) are also rotatably connected respectively by the rotating shaft (10) of correspondence and the upper end of robot carriage (1), are also connected with a spring (11) between described left mechanical finger (8) and right mechanical finger (9).
2. a kind of robot arm according to claim 1, it is characterized in that, one piece of liner (12) is separately installed with, the hemispherical shape of middle part for caving inward of described liner (12) in the inner side of described left mechanical finger (8) and right mechanical finger (9).
3. a kind of robot arm according to claim 1 and 2, is characterized in that, described robot carriage (1) is T-shaped block structure, and described drive motors (2) is bolted on robot carriage (1).
4. a kind of robot arm according to claim 3, it is characterized in that, described left mechanical finger (8) is connected with left branching rod (13), right mechanical finger (9) is connected with right pole (14), described left mechanical finger (8) is rotatably connected by left branching rod (13) and straight pin (6), and described right mechanical finger (9) is rotatably connected by right pole (14) and straight pin (6); Described left branching rod (13) is identical with the length of right pole (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420371479.5U CN204036468U (en) | 2014-07-08 | 2014-07-08 | A kind of robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420371479.5U CN204036468U (en) | 2014-07-08 | 2014-07-08 | A kind of robot arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204036468U true CN204036468U (en) | 2014-12-24 |
Family
ID=52237176
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420371479.5U Expired - Fee Related CN204036468U (en) | 2014-07-08 | 2014-07-08 | A kind of robot arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204036468U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104526709A (en) * | 2014-11-28 | 2015-04-22 | 赖卫华 | Mechanical material sending arm |
| CN104626128A (en) * | 2015-01-29 | 2015-05-20 | 周正英 | Feeding mechanical arm |
| CN104959995A (en) * | 2015-07-01 | 2015-10-07 | 西北工业大学（张家港）智能装备技术产业化研究院有限公司 | Robot grabbing hand |
| CN105455929A (en) * | 2016-02-12 | 2016-04-06 | 徐金鹏 | Voice control prosthetic manipulator |
| CN111823263A (en) * | 2020-07-28 | 2020-10-27 | 连云港华鼎车轮有限公司 | Automatic manipulator for machining automobile steel ring |
-
2014
- 2014-07-08 CN CN201420371479.5U patent/CN204036468U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104526709A (en) * | 2014-11-28 | 2015-04-22 | 赖卫华 | Mechanical material sending arm |
| CN104626128A (en) * | 2015-01-29 | 2015-05-20 | 周正英 | Feeding mechanical arm |
| CN104959995A (en) * | 2015-07-01 | 2015-10-07 | 西北工业大学（张家港）智能装备技术产业化研究院有限公司 | Robot grabbing hand |
| CN105455929A (en) * | 2016-02-12 | 2016-04-06 | 徐金鹏 | Voice control prosthetic manipulator |
| CN111823263A (en) * | 2020-07-28 | 2020-10-27 | 连云港华鼎车轮有限公司 | Automatic manipulator for machining automobile steel ring |
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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: 20141224 Termination date: 20150708 |
|
| EXPY | Termination of patent right or utility model |