CN204800628U

CN204800628U - Manipulator

Info

Publication number: CN204800628U
Application number: CN201520296639.9U
Authority: CN
Inventors: 汪家武
Original assignee: Zhenhua Science And Technology Industrial Co Ltd Of Anhui Province
Current assignee: Zhenhua Science And Technology Industrial Co Ltd Of Anhui Province
Priority date: 2015-05-05
Filing date: 2015-05-05
Publication date: 2015-11-25
Anticipated expiration: 2025-05-05

Abstract

The utility model discloses a manipulator belongs to the industrial robot field, including the manipulator, still include base, terminal box, big arm and forearm, the terminal box is fixed at the top of base, and big arm is connected with motor no. 1, and the motor drives big rotation of arm, and motor no. 1 is fixed in the terminal box, and the both ends of forearm are connected with big arm and manipulator respectively, and the forearm is equipped with motor no. 2 with big arm tie point department, and the forearm is equipped with motor no. 3 with manipulator tie point department. The utility model discloses an operation of taking of manipulator, supplementary workman has reduced workman's intensity of labour, and the manipulator is mainly by the cylindrical rod iron of mode centre gripping of carousel drive connecting rod clamping part, and the liner that sets up on the clamping part matches with the outside profile phase of cylindrical rod iron, and the liner increases the better centre gripping rod iron of frictional force, uses these anchor clamps operation process labour saving and time saving to practice thrift manufacturing cost.

Description

A kind of mechanical arm

Technical field

The utility model relates to industrial robot field, and specifically, the utility model relates to a kind of mechanical arm.

Background technology

Field of machining usually needs to take columniform rod iron as processing raw material, generally all comparatively large as raw-material cylindrical steel rods volume and weight, cylindrical steel rods in large-scale production process because the artificial taking and placing of the longer heavier-weight of length all cut with scissors difficulty.

Summary of the invention

Technical problem to be solved in the utility model is to provide the auxiliary cylindrical steel rods of taking of a kind of mechanical arm.

In order to solve the problems of the technologies described above, the technical scheme that the utility model adopts is: a kind of mechanical arm, comprise manipulator, also comprise base, terminal box, large arm and forearm, described terminal box is fixed on the top of base, large arm is connected with motor one, driven by motor large arm rotates, motor one is fixed in terminal box, the two ends of described forearm are connected with large arm and manipulator respectively; forearm and large arm tie point place are provided with motor two, and forearm and manipulator tie point place are provided with motor three, and motor four is arranged in terminal box and drives whole mechanical arm to rotate.

Preferably, described manipulator comprises " T " character-shaped base and rotating disk, one end of rotating disk is arranged on " T " character-shaped base, also comprise connecting rod, connecting rod one and connecting rod two, the two ends of described connecting rod are connected with rotating disk and connecting rod one respectively, connecting rod two and the hinged formation of connecting rod one " V " font, connecting rod one, the pin joint place of connecting rod two and connecting rod is provided with chute, connecting rod slides in chute in hinged place, the hinged clamping part one in end of described connecting rod one, the hinged clamping part two in end of connecting rod two, the middle part of clamping part one and clamping part two is hinged on the transverse ends of described " T " character-shaped base, described rotating disk drives rotation by motor three.

Preferably, hinged return spring on described clamping part one and clamping part two, described return spring is hinged on the position between liner and " T " character-shaped base, and return spring is parallel with the transverse ends of " T " character-shaped base.

Adopt the technical solution of the utility model, following beneficial effect can be obtained:

Mechanical arm of the present utility model, underworker carries out operation of taking, decrease the labour intensity of workman, manipulator clamps cylindrical steel rods primarily of the mode of driven by rotary disc connecting rod clamping part, the liner that clamping part is arranged and the exterior contour of cylindrical steel rods match, liner increases frictional force and better clamps rod iron, uses that this fixture operation process is time saving and energy saving to save production cost.

Accompanying drawing explanation

Brief description is made to the content expressed by each accompanying drawing of this description and the mark in figure below:

Fig. 1 is structural representation of the present utility model;

Fig. 2 is the left view of Fig. 1;

Fig. 3 is the structural representation of manipulator in Fig. 1;

Mark in above-mentioned figure is: 1, base; 2, terminal box; 3, large arm; 31, motor one; 32, motor four; 4, forearm; 41, motor two; 5, manipulator; 51, motor three; 52, " T " character-shaped base; 53, rotating disk; 54, connecting rod; 55, connecting rod one; 551, connecting rod two; 56, clamping part two; 561, clamping part one; 57, return spring; 58, liner; 59, chute.

Detailed description of the invention

Contrast accompanying drawing below, by the description to embodiment, the effect and operation principle etc. of detailed description of the invention of the present utility model as the mutual alignment between the shape of involved each component, structure, each several part and annexation, each several part are described in further detail.

As shown in Fig. 1 ~ 2, mechanical arm of the present utility model comprises base 1 and terminal box 2, terminal box 2 is fixed on base 1, one end of large arm 3 is connected with terminal box 2 by motor 1, and the other end of large arm 3 is by being connected with forearm 4, and junction arranges motor 2 41, manipulator 5 is connected with the end of forearm 4 by motor 3 51, whole mechanical arm relies on motor 1, motor 2 41 and motor 3 51 to drive, and motor 4 32 is arranged in terminal box 2, drives whole mechanical arm to rotate.

Mechanical arm work controls the rotation of motor 1, motor 2 41, motor 3 51 and motor 4 32 by computer program, so control mechanical arm grip or lay down goods.

As shown in Figure 3, be the structural representation of manipulator 5, the motor 3 51 that manipulator 5 mainly comprises " T " character-shaped base 52 and arranges on it, motor 3 51 starts, stop, rotating forward, reversing controls holding action.As shown in Figure 3, when rotating disk 53 is rotated counterclockwise, drivening rod 54 moves backward, connecting rod 54 drivening rod 1 and connecting rod 2 551, and then drives clamping part 2 56 and clamping part 1 to complete holding action; Rotating disk 53 continues to be rotated counterclockwise etc. and turns over rotating disk 53 maximum gauge back link 54 and travel forward, and clamping part 2 56 and clamping part 1 put down the workpiece of clamping, and rotating disk 53 has rotated a circle clamping and 2 actions putting down, when rotating disk 53 turns clockwise in like manner.

As shown in Figure 3, manipulator 5 adopts multi-link structure, one end of connecting rod 54 and connecting rod 1, connecting rod 2 551 are hinged, pin joint place is provided with limited post, in chute 59 on limited post is arranged on " T " character-shaped base 52, when rotating disk 53 rotates, drivening rod 54 moves, and connecting rod 54 and connecting rod 1, connecting rod 2 551 are moved by chute 59 is spacing in groove.

As shown in Figure 3, the middle part of clamping part 2 56 and clamping part 1 is hinged on " T " character-shaped base 52 transverse ends portion, clamping part 2 56 and clamping part 1 form the work clamping part of " V " font, clamping part 2 56 is connected return spring 57 with on clamping part 1, return spring 57 is positioned at the position between liner 58 and " T " character-shaped base 52, and return spring 57 resets after mainly making clamping part 2 56 and clamping part 1 clamp.

By reference to the accompanying drawings the utility model is exemplarily described above; obvious the utility model specific implementation is not subject to the restrictions described above; as long as have employed the improvement of the various unsubstantialities that method of the present utility model is conceived and technical scheme is carried out; or design of the present utility model and technical scheme directly applied to other occasion, all within protection domain of the present utility model without to improve.

Claims

1. a mechanical arm, it is characterized in that: comprise manipulator, also comprise base, terminal box, large arm and forearm, described terminal box is fixed on the top of base, and large arm is connected with motor one, driven by motor large arm rotates, motor one is fixed in terminal box, and the two ends of described forearm are connected with large arm and manipulator respectively, and forearm and large arm tie point place are provided with motor two; forearm and manipulator tie point place are provided with motor three, and motor four is arranged in terminal box and drives whole mechanical arm to rotate.

2. mechanical arm according to claim 1, it is characterized in that: described manipulator comprises " T " character-shaped base and rotating disk, one end of rotating disk is arranged on " T " character-shaped base, also comprise connecting rod, connecting rod one and connecting rod two, the two ends of described connecting rod are connected with rotating disk and connecting rod one respectively, connecting rod two and the hinged formation of connecting rod one " V " font, connecting rod one, the pin joint place of connecting rod two and connecting rod is provided with chute, connecting rod slides in chute in hinged place, the hinged clamping part one in end of described connecting rod one, the hinged clamping part two in end of connecting rod two, the middle part of clamping part one and clamping part two is hinged on the transverse ends of described " T " character-shaped base, described rotating disk drives rotation by motor three.

3. mechanical arm according to claim 2, it is characterized in that: hinged return spring on described clamping part one and clamping part two, described return spring is hinged on the position between liner and " T " character-shaped base, and return spring is parallel with the transverse ends of " T " character-shaped base.