CN204295692U - Upper and lower rotating machine arm - Google Patents

Upper and lower rotating machine arm Download PDF

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Publication number
CN204295692U
CN204295692U CN201420760609.4U CN201420760609U CN204295692U CN 204295692 U CN204295692 U CN 204295692U CN 201420760609 U CN201420760609 U CN 201420760609U CN 204295692 U CN204295692 U CN 204295692U
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China
Prior art keywords
motor
block
manipulator
rotation motor
moves
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CN201420760609.4U
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Chinese (zh)
Inventor
胡健
巩茹蕾
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Zhaoding Hua Tai Technology (tianjin) Co Ltd
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Zhaoding Hua Tai Technology (tianjin) Co Ltd
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Abstract

The invention provides upper and lower rotating machine arm, the upper and lower of mechanical arm and spinning movement is realized by two motor drivings, two simple mechanism, its above-below direction is regulated and is completed by the mating reaction of upper and lower stroke regulating block, the connecting rod that moves up and down, universal joint and the large plate that moves up and down, above-below direction stroke is regulated by stroke adjustment screw, and its direction of rotation is regulated and completed by rotation motor driving mechanical arm device.The invention integrated model design processing is simple, and common process technique can realize, and upper-lower height adjusts by machinery, and the anglec of rotation is by parameter adjustment, and dismounting is simple and easy, and overall cost is cheap.

Description

Upper and lower rotating machine arm
Technical field
The invention belongs to non-standard automatic apparatus field, especially relates to a kind of rotating machine arm up and down.
Background technology
Manipulator forms primarily of hand, motion and control system three parts.Hand is used to the parts grasping workpiece (or instrument), has various structures form according to by grasping the shape of object, size, weight, material and job requirements, as clamp-type, holding type and absorbent-type etc.Motion, makes that hand completes various rotation (swing), mobile or compound motion realizes the action that specifies, change and grasped the position of object and posture.The self-movement modes such as the lifting of motion, flexible, rotation, are called the free degree of manipulator.The free degree is more, and the flexibility of manipulator is larger, and versatility is wider, and its structure is also more complicated.General special manipulator has 2 to 3 frees degree.Control system is the control by the motor to each free degree of manipulator, has carried out specific action.Receiving sensor feedack, forms stable closed-loop control simultaneously.The core difference of variety classes manipulator is the difference of motion, and general special manipulator all adopts comparatively complicated motion, as cam-type manipulator.What cam-type manipulator generally adopted cylindrical envelope cambered surface cam mechanism to realize manipulator aims at action, the lifting action of manipulator is realized with planar trenches cam mechanism, by motor driving 2 cams, the connecting rod on cam is driving mechanical hand again, realizes the action of mechanical arm.Therefore the shortcoming that cam-type manipulator exists design processed complex, common process mode high to requirement on machining accuracy cannot realize.Cam-type manipulator need adopt digital control processing mode to control, and adds to operate slightly error man-hour and just cannot use, and upper-lower height and the anglec of rotation of mechanical arm are limited by cam dimension, cannot regulate, and integrated model is installed complicated, difficult dismounting, and involves great expense.
Summary of the invention
The invention will solve above technical problem, a kind of rotating machine arm is up and down provided, the upper and lower of mechanical arm and spinning movement is realized by two motor drivings, two simple mechanism, integrated model design processing is simple, common process technique can realize, and upper-lower height adjusts by machinery, and the anglec of rotation is by parameter adjustment, dismounting is simple and easy, cheap.
For solving the problems of the technologies described above, the technical scheme that the invention adopts is: rotating machine arm up and down, comprise upper and lower motor, upper and lower stroke regulating block, move up and down connecting rod, universal joint, move up and down large plate, rotation motor, rotation motor fixed head and robot device, described upper and lower motor is fixedly connected on upper and lower motor fixed plate, and the output shaft of described upper and lower motor is connected with described upper and lower stroke regulating block through described upper and lower motor fixed plate, the described connecting rod that moves up and down is arranged on described upper and lower stroke regulating block, move up and down described in described upper and lower stroke regulating block can drive the output shaft rotation of connecting rod with described upper and lower motor, the described connecting rod that moves up and down is connected with the described sidepiece moving up and down large plate by described universal joint, described rotation motor fixed head is connected with bottom the described large plate that moves up and down, described rotation motor is fixed on described rotation motor fixed head, and the output shaft of described rotation motor is connected with described robot device through described rotation motor fixed head.
Further, described upper and lower stroke regulating block is provided with the first chute, one end of the described connecting rod that moves up and down is embedded in described first chute, the two ends of described first chute are respectively provided with a block and a stroke adjustment screw, described first chute is formed enclosed slot by two described blocks, described block is provided with screwed hole, described stroke adjustment screw stretches into described first chute by described screwed hole, and the end that described stroke adjustment screw stretches into described first chute hold out against described in move up and down connecting rod.
Further, described upper and lower motor fixed plate is provided with the slide rail of vertical direction, the described large plate that moves up and down is provided with the slide block coordinated with described slide rail, described in the large plate that moves up and down can move up and down relative to described upper and lower motor fixed plate under the driving effect of the described connecting rod that moves up and down and the guide effect of described slide rail.
Further, described robot device comprises rotation motor axle contiguous block, mechanical arm fixed head, manipulator fixed block and suction manipulator, one end of described rotation motor axle contiguous block is connected with the output shaft of described rotation motor, the other end of described rotation motor axle contiguous block is connected with described mechanical arm fixed head, described mechanical arm fixed head is provided with some described manipulator fixed blocks, and each described manipulator fixed block connects a described suction manipulator.
Further, described mechanical arm fixed head is provided with multiple arm end, the described suction manipulator that each described arm end is provided with a described manipulator fixed block and is connected with described manipulator fixed block.
The advantage that the invention has and good effect are: rotating machine arm up and down, the upper and lower of mechanical arm and spinning movement is realized by two motor drivings, two simple mechanism, its above-below direction is regulated and is completed by the mating reaction of upper and lower stroke regulating block, the connecting rod that moves up and down, universal joint and the large plate that moves up and down, above-below direction stroke is regulated by stroke adjustment screw, and its direction of rotation is regulated and completed by rotation motor driving mechanical arm device.The invention integrated model design processing is simple, and common process technique can realize, and upper-lower height adjusts by machinery, and the anglec of rotation is by parameter adjustment, and dismounting is simple and easy, and overall cost is cheap.
Accompanying drawing explanation
Fig. 1 is the structural representation of upper and lower rotating machine arm.
In figure: 1, upper and lower motor; 2, upper and lower motor fixed plate; 3, upper and lower stroke regulating block;
4, stroke adjustment screw; 5, move up and down connecting rod; 6, universal joint; 7, slide rail;
8, slide block; 9, move up and down large plate; 10, rotation motor; 11, rotation motor fixed head;
12, rotation motor axle contiguous block; 13, mechanical arm fixed head; 14, manipulator fixed block;
15, suction manipulator.
Detailed description of the invention
Elaborate below in conjunction with the specific embodiment of accompanying drawing to the invention.
As shown in Figure 1, upper and lower rotating machine arm, comprise upper and lower motor 1, upper and lower stroke regulating block 3, move up and down connecting rod 5, universal joint 6, move up and down large plate 9, rotation motor 10, rotation motor fixed head 11 and robot device, described upper and lower motor 1 is fixedly connected on upper and lower motor fixed plate 2, and the output shaft of described upper and lower motor 1 is connected with described upper and lower stroke regulating block 3 through described upper and lower motor fixed plate 2, the described connecting rod 5 that moves up and down is arranged on described upper and lower stroke regulating block 3, move up and down described in described upper and lower stroke regulating block 3 can drive the output shaft rotation of connecting rod 5 with described upper and lower motor 1, the described connecting rod 5 that moves up and down is connected with the described sidepiece moving up and down large plate 9 by described universal joint 6, described rotation motor fixed head 11 is connected with bottom the described large plate 9 that moves up and down, described rotation motor 10 is fixed on described rotation motor fixed head 11, and the output shaft of described rotation motor 10 is connected with described robot device through described rotation motor fixed head 11.
Described upper and lower stroke regulating block 3 is provided with the first chute, described one end moving up and down connecting rod 5 is embedded in described first chute, the two ends of described first chute are respectively provided with a block and a stroke adjustment screw 4, described first chute is formed enclosed slot by two described blocks, described block is provided with screwed hole, described stroke adjustment screw 4 stretches into described first chute by described screwed hole, and the end that described stroke adjustment screw 4 stretches into described first chute hold out against described in move up and down connecting rod 5.
Described upper and lower motor fixed plate 2 is provided with the slide rail 7 of vertical direction, the described large plate 9 that moves up and down is provided with the slide block 8 coordinated with described slide rail 7, described in the large plate 9 that moves up and down can move up and down relative to described upper and lower motor fixed plate 2 under the driving effect of the described connecting rod 5 that moves up and down and the guide effect of described slide rail 7.
Described robot device comprises rotation motor axle contiguous block 12, mechanical arm fixed head 13, manipulator fixed block 14 and suction manipulator 15, one end of described rotation motor axle contiguous block 12 is connected with the output shaft of described rotation motor 10, the other end of described rotation motor axle contiguous block 12 is connected with described mechanical arm fixed head 13, described mechanical arm fixed head 13 is provided with some described manipulator fixed blocks 14, and each described manipulator fixed block 14 connects a described suction manipulator 15.
Described mechanical arm fixed head 13 is provided with multiple arm end, the described suction manipulator 15 that each described arm end is provided with a described manipulator fixed block 14 and is connected with described manipulator fixed block 14.
The operation principle of the preferred forms of upper and lower rotating machine arm is: motor 1 drives upper and lower stroke regulating block 3 to rotate up and down, upper and lower stroke regulating block 3 drives the connecting rod 5 that moves up and down embedded wherein to rotate, the position of first chute of connecting rod 5 in upper and lower stroke regulating block 4 that move up and down is regulated by stroke adjustment screw 4, the connecting rod 5 that ensures to move up and down can not be positioned at the centre position of the first chute, and object is the connecting rod 5 that makes to move up and down is eccentric relative to the center of upper and lower stroke regulating block 3.Like this when upper and lower stroke regulating block 3 rotates, the connecting rod 5 that will make to move up and down produces knee-action, be connected with the large plate 9 that moves up and down by universal joint 6 again, complete upper and lower guide effect by the slide rail 7 on upper and lower motor fixed plate, the mating reaction of slide block 8 that moves up and down on large plate 9, all parts that the large plate 9 that just can make to move up and down is installed realize knee-action.Then rotation motor 10 rotates, and directly drives mechanical arm fixed head 13 below and manipulator fixed block 14 to rotate, thus realize upper and lower, the spinning movement of suction manipulator 15 by rotation motor axle contiguous block 12.Described mechanical arm fixed head 13 is cross template, is provided with four symmetric arms ends, and object is to improve operational stability.Upper and lower motor 1 can change according to installation site and requirements of installation space, and namely motor 1 can on the left side of slide rail 7 or the right up and down, also can be installed on slide rail 7 by upper and lower motor 1 or the position such as below, with cooperating equipment installing space and layout requirements.
The invention is realized at high speed up and down by simple two covering devices, spinning movement, its above-below direction stroke is by stroke adjustment screw 4 quick adjustment, the initial position up and down of manipulator also can regulate by regulating the connection of universal joint 6, the anglec of rotation regulates by the parameter of rotation motor 10, speed can reach 7 circulations per second, relative conventional cam manipulator, have that processing is simple, cost is low, adjustable, easy to assemble ground advantage, the design processing being completely free of cam mechanism limits.
Above an embodiment of the invention has been described in detail, but described content being only the preferred embodiment of the invention, the practical range for limiting the invention can not being considered to.All equalization changes done according to the invention application range with improve, within the patent covering scope that still all should belong to the invention.

Claims (5)

1. upper and lower rotating machine arm, it is characterized in that: comprise upper and lower motor, upper and lower stroke regulating block, move up and down connecting rod, universal joint, move up and down large plate, rotation motor, rotation motor fixed head and robot device, described upper and lower motor is fixedly connected on upper and lower motor fixed plate, and the output shaft of described upper and lower motor is connected with described upper and lower stroke regulating block through described upper and lower motor fixed plate, the described connecting rod that moves up and down is arranged on described upper and lower stroke regulating block, move up and down described in described upper and lower stroke regulating block can drive the output shaft rotation of connecting rod with described upper and lower motor, the described connecting rod that moves up and down is connected with the described sidepiece moving up and down large plate by described universal joint, described rotation motor fixed head is connected with bottom the described large plate that moves up and down, described rotation motor is fixed on described rotation motor fixed head, and the output shaft of described rotation motor is connected with described robot device through described rotation motor fixed head.
2. upper and lower rotating machine arm according to claim 1, it is characterized in that: described upper and lower stroke regulating block is provided with the first chute, one end of the described connecting rod that moves up and down is embedded in described first chute, the two ends of described first chute are respectively provided with a block and a stroke adjustment screw, described first chute is formed enclosed slot by two described blocks, described block is provided with screwed hole, described stroke adjustment screw stretches into described first chute by described screwed hole, and the end that described stroke adjustment screw stretches into described first chute hold out against described in move up and down connecting rod.
3. upper and lower rotating machine arm according to claim 1, it is characterized in that: described upper and lower motor fixed plate is provided with the slide rail of vertical direction, the described large plate that moves up and down is provided with the slide block coordinated with described slide rail, described in the large plate that moves up and down can move up and down relative to described upper and lower motor fixed plate under the driving effect of the described connecting rod that moves up and down and the guide effect of described slide rail.
4. upper and lower rotating machine arm according to claim 1, it is characterized in that: described robot device comprises rotation motor axle contiguous block, mechanical arm fixed head, manipulator fixed block and suction manipulator, one end of described rotation motor axle contiguous block is connected with the output shaft of described rotation motor, the other end of described rotation motor axle contiguous block is connected with described mechanical arm fixed head, described mechanical arm fixed head is provided with some described manipulator fixed blocks, and each described manipulator fixed block connects a described suction manipulator.
5. upper and lower rotating machine arm according to claim 4, is characterized in that: described mechanical arm fixed head is provided with multiple arm end, the described suction manipulator that each described arm end is provided with a described manipulator fixed block and is connected with described manipulator fixed block.
CN201420760609.4U 2014-12-05 2014-12-05 Upper and lower rotating machine arm Active CN204295692U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201420760609.4U CN204295692U (en) 2014-12-05 2014-12-05 Upper and lower rotating machine arm

Publications (1)

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CN204295692U true CN204295692U (en) 2015-04-29

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019155121A1 (en) * 2018-02-06 2019-08-15 Masinova Oy An arrangement and a method for a robot device
CN112769302A (en) * 2020-06-28 2021-05-07 温州职业技术学院 Motor rapid Assembly system based on cam manipulator

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019155121A1 (en) * 2018-02-06 2019-08-15 Masinova Oy An arrangement and a method for a robot device
CN112769302A (en) * 2020-06-28 2021-05-07 温州职业技术学院 Motor rapid Assembly system based on cam manipulator

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