CN204868858U - Industrial machinery arm - Google Patents
Industrial machinery arm Download PDFInfo
- Publication number
- CN204868858U CN204868858U CN201520643526.1U CN201520643526U CN204868858U CN 204868858 U CN204868858 U CN 204868858U CN 201520643526 U CN201520643526 U CN 201520643526U CN 204868858 U CN204868858 U CN 204868858U
- Authority
- CN
- China
- Prior art keywords
- arm
- pedestal
- vertical
- dolly
- drag chain
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses an industrial machinery arm, pillar including a vertical setting, the pillar is improved level and is set up a pedestal, set up the dolly on the pedestal, the vertical orientation reciprocating motion of level can be followed to the dolly on the pedestal, be equipped with the xarm on the dolly, the xarm can be at the horizontal direction reciprocating motion of level, be equipped with perpendicular arm on the xarm, it can be at vertical direction up -and -down motion to erect the arm, it is used for snatching the work piece to be equipped with the gripper on the perpendicular arm. The utility model aims to solve the technical problem that a manipulator of simple structure, cost are lower, job stabilization, control accuracy are high is provided.
Description
Technical field
The utility model relates to a kind of mechanical device, is specifically related to a kind of industrial machine mechanical arm.
Background technology
Manipulator is the automated machine device obtaining at present most broad practice in robotics, can see its figure in a lot of industry manufacture field.Manipulator in robot, as the mechanical device of moving type actuating mechanism, was connected and composed by multiple joint, its complicated structure in the past, element precision and processing request higher, expensive.
Utility model content
Technical problem to be solved in the utility model is to provide the manipulator that a kind of structure is simple, cost is lower, working stability, control accuracy are high.
To achieve these goals, the technical solution adopted in the utility model is: a kind of industrial machine mechanical arm, it is characterized in that: comprise a pillar vertically arranged, described pillar is horizontally disposed with a pedestal, described pedestal is arranged a dolly, described dolly can move back and forth along horizontal longitudinal direction on pedestal, described pedestal is provided with the first longitudinal track, described dolly is provided with first slide block of joining with the first track sliding, described dolly is provided with the first motor, described pedestal is arranged the first tooth bar of a longitudinal direction, described first motor output shaft is provided with the first gear engaged with the first tooth bar, also comprise the first engineering drag chain, described pedestal is provided with the longitudinal chute for the first engineering drag chain motion, described first engineering drag chain one end is connected the other end and is connected with longitudinal chute with dolly, described dolly is provided with a transverse arm, described transverse arm can move back and forth in horizontal transverse direction, described transverse arm is provided with the second horizontal guide rail, described dolly is provided with sliding second slide block of joining with the second guide rail, described dolly is provided with the second motor, described transverse arm is arranged the second tooth bar of a transverse direction, described second motor output shaft is provided with the second gear engaged with the second tooth bar, also comprise the second engineering drag chain, described transverse arm is provided with the horizontal concrete chute for the second engineering drag chain motion, and described second engineering drag chain one end is connected the other end with dolly and is connected with horizontal concrete chute, described transverse arm is arranged a vertical arm vertically arranged, described vertical arm can be moved under in the vertical direction, described vertical arm is provided with the 3rd vertical guide rail, described transverse arm is provided with sliding 3rd slide block of joining with the 3rd guide rail, described transverse arm is provided with the 3rd motor, described vertical arm is arranged a 3rd vertical tooth bar, described 3rd motor output shaft is provided with the 3rd gear engaged with the 3rd tooth bar, also comprise the 3rd engineering drag chain, described vertical arm is provided with the vertical chute for the 3rd engineering drag chain motion, described 3rd engineering drag chain one end is connected the other end and is connected with vertical chute with vertical arm, described vertical arm is provided with gripper for grabbing workpiece.
The utility model is also set to further, described transverse arm sets firmly a support, and described 3rd motor and the 3rd slide block are all fixedly arranged on support.
By adopting technique scheme, control gripper work by transverse arm and vertical arm, it moves control and all adopts motor and tooth bar cooperation to realize controlling, structure is simple, and it is convenient to control, and production cost is low, also be provided with engineering drag chain simultaneously, make the mobile control of manipulator more stable.
The utility model is also set to further, described gripper comprises mount pad and is connected with vertical arm for gripper, rotatable rotation pedestal, clamping cylinder is used for holding workpiece, support arm rotates pedestal and clamping cylinder for connecting, the center of described rotation pedestal is provided with rotating shaft, the center of described mount pad is provided with the axis hole coordinated with rotating shaft, the upper surface of described rotation pedestal is provided with a circle angle index ring around rotating shaft, described mount pad is provided with the pointer coordinated with angle index ring and is used to indicate the rotational angle rotating pedestal, described mount pad is provided with dog screw for fixing rotation pedestal.
The utility model is also set to further, and described pointer is rotatable setting, and pointer can rotate around the axis of rotating shaft.
The utility model is also set to further, described clamping cylinder comprises two opposed clamping limbs, and described clamping limb is provided with clamping face, and described clamping face is plane, described clamping face is provided with one deck vulcanie, and the clamping face of described vulcanie is provided with bar groove.
The utility model is also set to further, and the sidewall of described mount pad is provided with the screwed hole vertical with axis hole, and described dog screw is connected in screwed hole.
The utility model is also set to further, and described clamping cylinder is provided with two, and two clamping cylinders are setting up and down.
By adopting technique scheme, the angle position that the basis of manipulator control gripper is set up a gripper again regulates, when making robot work, higher to the control accuracy of gripper, and adopt its adjustment of such scheme simple and convenient, be convenient to control, be conducive to improving the quality of production and production efficiency.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is one of structural representation of dolly movable part of the present utility model;
Fig. 3 is the structural representation two of dolly movable part of the present utility model;
Fig. 4 is the structural representation three of dolly movable part of the present utility model;
Fig. 5 is one of structural representation of transverse arm movable part of the present utility model;
Fig. 6 is the structural representation two of transverse arm movable part of the present utility model;
Fig. 7 is the structural representation three of transverse arm movable part of the present utility model;
Fig. 8 is one of structural representation of vertical arm movable part of the present utility model;
Fig. 9 is one of structural representation of vertical arm movable part of the present utility model;
Figure 10 is the structural representation of the utility model gripper;
Figure 11 is the sectional view of the utility model gripper;
Figure 12 is the decomposing schematic representation of the utility model gripper rotational structure.
Number in the figure implication: 1-pillar; 2-pedestal; 3-dolly; 4-first track; 5-first slide block; 6-first motor; 7-first tooth bar; 8-first gear; 9-first engineering drag chain; The longitudinal chute of 10-; 11-transverse arm; 12-second guide rail; 13-second slide block; 14-second motor; 15-second tooth bar; 16-second gear; 17-second engineering drag chain; 18-horizontal concrete chute; 19-vertical arm; 20-the 3rd guide rail; 21-the 3rd slide block; 22-the 3rd motor; 23-the 3rd tooth bar; 24-the 3rd gear; 25-the 3rd engineering drag chain; The vertical chute of 26-; 27-support; 100-mount pad; 1001-axis hole; 1002-link slot; 1003-screwed hole; 200-rotates pedestal; 2001-rotating shaft; 2002-angle index ring; 300-clamping cylinder; 3001-clamping limb; 3002-vulcanie; 30021-bar groove; 400-support arm; 500-pointer; 5001-connecting portion; 5002-instruction unit; 600-dog screw; A-gripper.
Detailed description of the invention
Below in conjunction with drawings and Examples, detailed description of the invention of the present utility model is described in further detail.Following examples for illustration of the utility model, but are not used for limiting scope of the present utility model.
Below with reference to Fig. 1 to Figure 12, the utility model is described.
A kind of industrial machine mechanical arm, comprise a pillar 1 vertically arranged, described pillar 1 is horizontally disposed with a pedestal 2, described pedestal 2 is arranged a dolly 3, described dolly 3 can move back and forth along horizontal longitudinal direction on pedestal 2, described pedestal 2 is provided with the first longitudinal track 4, described dolly 3 is provided with sliding first slide block 5 of joining with the first track 4, described dolly 3 is provided with the first motor 6, described pedestal 2 is arranged the first tooth bar 7 of a longitudinal direction, described first motor 6 output shaft is provided with the first gear 8 engaged with the first tooth bar 7, also comprise the first engineering drag chain 9, described pedestal 2 is provided with the longitudinal chute 10 moved for the first engineering drag chain 9, described first engineering drag chain 9 one end upwards bends and is connected the other end with dolly 3 and is connected with longitudinal chute 10, described dolly 3 is provided with a transverse arm 11, described transverse arm 11 can move back and forth in horizontal transverse direction, described transverse arm 11 is provided with the second horizontal guide rail 12, described dolly 3 is provided with sliding second slide block 13 of joining with the second guide rail 12, described dolly 3 is provided with the second motor 14, described transverse arm 11 is arranged the second tooth bar 15 of a transverse direction, described second motor 14 output shaft is provided with the second gear 16 engaged with the second tooth bar 15, also comprise the second engineering drag chain 17, described transverse arm 11 is provided with the horizontal concrete chute 18 moved for the second engineering drag chain 17, described second engineering drag chain 17 one end upwards looper be connected the other end with dolly 3 and be connected with horizontal concrete chute 18, described transverse arm 11 is arranged a vertical arm 19 vertically arranged, described vertical arm 19 can be moved under in the vertical direction, described vertical arm 19 is provided with the 3rd vertical guide rail 20, described transverse arm 11 is provided with sliding 3rd slide block 21 of joining with the 3rd guide rail 20, described transverse arm 11 is provided with the 3rd motor 22, described vertical arm 19 is arranged a 3rd vertical tooth bar 23, described 3rd motor 22 output shaft is provided with the 3rd gear 24 engaged with the 3rd tooth bar 23, also comprise the 3rd engineering drag chain 25, described vertical arm 19 is provided with the vertical chute 26 moved for the 3rd engineering drag chain 25, described 3rd engineering drag chain 25 one end bends to vertical arm 19 and is connected the other end with vertical arm 19 and is connected with vertical chute 26, described vertical arm 19 is provided with gripper for grabbing workpiece.
Transverse arm 11 sets firmly a support 27, described 3rd motor 22 and the 3rd slide block 21 are all fixedly arranged on support 27.
Robot work process: when the first motor 6 starts, first gear 8 rotates and walks on the first tooth bar 7, thus driving dolly 3 to move at horizontal longitudinal direction, dolly 3, by transverse arm 11 and vertical arm 19 driving device pawl, reaches the object controlling gripper and horizontally vertically move; When the second motor 14 starts, the second gear 16 rotates and walks on the second tooth bar 15, thus transverse arm 11 is moved in horizontal transverse direction, and transverse arm 11, by vertical arm 19 driving device pawl, reaches the object controlling the movement of gripper horizontal cross; When the 3rd motor 22 starts, the 3rd gear 24 rotates and walks on the 3rd tooth bar 23, thus moves under making vertical arm 19 in the vertical direction, reaches the object controlling gripper vertical direction and move up and down.
By adopting technique scheme, control gripper work by transverse arm 11 and vertical arm 19, it moves control and all adopts motor and tooth bar cooperation to realize controlling, structure is simple, and it is convenient to control, and production cost is low, also be provided with engineering drag chain simultaneously, make the mobile control of manipulator more stable.
Gripper comprises mount pad 100 and is connected with vertical arm 19 for gripper, rotatable rotation pedestal 200, clamping cylinder 300 is for holding workpiece, support arm 400 rotates pedestal 200 and clamping cylinder 300 for connecting, described rotation pedestal 200 is cylindric, the center rotating pedestal 200 is provided with rotating shaft 2001, described mount pad 100 is cylindric, the diameter rotating pedestal 200 is greater than the diameter of mount pad 100, the center of mount pad 100 is provided with the axis hole 1001 coordinated with rotating shaft 2001, the upper surface of described rotation pedestal 200 is provided with a circle angle index ring 2002 around rotating shaft 2001, described mount pad 100 is provided with the pointer 500 coordinated with angle index ring 2002 and is used to indicate the rotational angle rotating pedestal 200, described pointer 500 is rotatable setting, pointer 500 can rotate around the axis of rotating shaft 2001, the connecting portion 5001 that described pointer 500 comprises annular and the triangle instruction unit 5002 be arranged on connecting portion 5001 lateral wall, connecting portion 5001 is enclosed within mount pad 100, the sidewall of mount pad 100 is provided with a circle and is provided with the link slot 1002 coordinated with connecting portion 5001, instruction unit 5002 is used to indicate angle, pointer 500 is rotatable setting, be convenient for people to from diverse location to carry out angular adjustment, at any time pointer 500 can be forwarded to the position being applicable to viewing, described mount pad 100 is provided with dog screw 600 for fixing rotation pedestal 200, the sidewall of mount pad 100 is provided with the screwed hole 1003 vertical with axis hole 1001, described dog screw 600 is connected in screwed hole 1003, and the end of dog screw 600 is against on the sidewall of rotating shaft 2001, when needing the angle position regulating clamping cylinder 300, unscrew dog screw 600, then rotate rotation pedestal 200, regulate according to the angle that pointer 500 is walked on angle index ring 2002 anglec of rotation rotating pedestal 200, after regulating, screw the fixing rotation pedestal 200 of dog screw 600.
Clamping cylinder 300 comprises two opposed clamping limbs 3001, described clamping limb 3001 is provided with clamping face, described clamping face is plane, described clamping face is provided with one deck vulcanie 3002, the clamping limb 3001 of vulcanie 3002 opposing metallic has certain elasticity, can avoid crushing workpiece, the clamping face of described vulcanie 3002 is provided with bar groove 30021, bar groove 30021 can increase the frictional force of clamping, make the more firm of clamping, described clamping cylinder 300 is provided with two, and two clamping cylinders 300 are setting up and down.
By adopting technique scheme, the angle position that the basis of manipulator control gripper is set up a gripper again regulates, when making robot work, higher to the control accuracy of gripper, and adopt its adjustment of such scheme simple and convenient, be convenient to control, be conducive to improving the quality of production and production efficiency.
The above is only preferred embodiment of the present utility model; should be understood that; for those skilled in the art; under the prerequisite not departing from the utility model know-why; can also make some improvement and modification, these improvement of above-mentioned hypothesis and modification also should be considered as protection domain of the present utility model.
Claims (7)
1. an industrial machine mechanical arm, it is characterized in that: comprise a pillar vertically arranged, described pillar is horizontally disposed with a pedestal, described pedestal is arranged a dolly, described dolly can move back and forth along horizontal longitudinal direction on pedestal, described pedestal is provided with the first longitudinal track, described dolly is provided with first slide block of joining with the first track sliding, described dolly is provided with the first motor, described pedestal is arranged the first tooth bar of a longitudinal direction, described first motor output shaft is provided with the first gear engaged with the first tooth bar, also comprise the first engineering drag chain, described pedestal is provided with the longitudinal chute for the first engineering drag chain motion, described first engineering drag chain one end is connected the other end and is connected with longitudinal chute with dolly, described dolly is provided with a transverse arm, described transverse arm can move back and forth in horizontal transverse direction, described transverse arm is provided with the second horizontal guide rail, described dolly is provided with sliding second slide block of joining with the second guide rail, described dolly is provided with the second motor, described transverse arm is arranged the second tooth bar of a transverse direction, described second motor output shaft is provided with the second gear engaged with the second tooth bar, also comprise the second engineering drag chain, described transverse arm is provided with the horizontal concrete chute for the second engineering drag chain motion, and described second engineering drag chain one end is connected the other end with dolly and is connected with horizontal concrete chute, described transverse arm is arranged a vertical arm vertically arranged, described vertical arm can be moved under in the vertical direction, described vertical arm is provided with the 3rd vertical guide rail, described transverse arm is provided with sliding 3rd slide block of joining with the 3rd guide rail, described transverse arm is provided with the 3rd motor, described vertical arm is arranged a 3rd vertical tooth bar, described 3rd motor output shaft is provided with the 3rd gear engaged with the 3rd tooth bar, also comprise the 3rd engineering drag chain, described vertical arm is provided with the vertical chute for the 3rd engineering drag chain motion, described 3rd engineering drag chain one end is connected the other end and is connected with vertical chute with vertical arm, described vertical arm is provided with gripper for grabbing workpiece.
2. a kind of industrial machine mechanical arm according to claim 1, is characterized in that: described transverse arm sets firmly a support, and described 3rd motor and the 3rd slide block are all fixedly arranged on support.
3. a kind of industrial machine mechanical arm according to claim 1, it is characterized in that: described gripper comprises mount pad and is connected with vertical arm for gripper, rotatable rotation pedestal, clamping cylinder is used for holding workpiece, support arm rotates pedestal and clamping cylinder for connecting, the center of described rotation pedestal is provided with rotating shaft, the center of described mount pad is provided with the axis hole coordinated with rotating shaft, the upper surface of described rotation pedestal is provided with a circle angle index ring around rotating shaft, described mount pad is provided with the pointer coordinated with angle index ring and is used to indicate the rotational angle rotating pedestal, described mount pad is provided with dog screw for fixing rotation pedestal.
4. a kind of industrial machine mechanical arm according to claim 3, is characterized in that: described pointer is arranged for rotatable, and pointer can rotate around the axis of rotating shaft.
5. a kind of industrial machine mechanical arm according to claim 3, it is characterized in that: described clamping cylinder comprises two opposed clamping limbs, described clamping limb is provided with clamping face, described clamping face is plane, described clamping face is provided with one deck vulcanie, and the clamping face of described vulcanie is provided with bar groove.
6. a kind of industrial machine mechanical arm according to claim 3, is characterized in that: the sidewall of described mount pad is provided with the screwed hole vertical with axis hole, and described dog screw is connected in screwed hole.
7. a kind of industrial machine mechanical arm according to claim 3, is characterized in that: described clamping cylinder is provided with two, and two clamping cylinders are setting up and down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520643526.1U CN204868858U (en) | 2015-08-20 | 2015-08-20 | Industrial machinery arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520643526.1U CN204868858U (en) | 2015-08-20 | 2015-08-20 | Industrial machinery arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204868858U true CN204868858U (en) | 2015-12-16 |
Family
ID=54813279
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520643526.1U Expired - Fee Related CN204868858U (en) | 2015-08-20 | 2015-08-20 | Industrial machinery arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204868858U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106546150A (en) * | 2017-01-13 | 2017-03-29 | 江苏汇博机器人技术股份有限公司 | A kind of micro- positioning linear measuring system of multistation |
| CN110497380A (en) * | 2019-09-20 | 2019-11-26 | 佛山市荞帆机电科技有限公司 | A kind of die casting robot |
| CN111774590A (en) * | 2020-06-05 | 2020-10-16 | 安徽利锋机械科技有限公司 | Slide rail electric drill track with accurate positioning |
| CN113635287A (en) * | 2021-08-20 | 2021-11-12 | 浙江大学 | Flexible mechanical claw for teaching mechanical arm |
-
2015
- 2015-08-20 CN CN201520643526.1U patent/CN204868858U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106546150A (en) * | 2017-01-13 | 2017-03-29 | 江苏汇博机器人技术股份有限公司 | A kind of micro- positioning linear measuring system of multistation |
| CN110497380A (en) * | 2019-09-20 | 2019-11-26 | 佛山市荞帆机电科技有限公司 | A kind of die casting robot |
| CN111774590A (en) * | 2020-06-05 | 2020-10-16 | 安徽利锋机械科技有限公司 | Slide rail electric drill track with accurate positioning |
| CN113635287A (en) * | 2021-08-20 | 2021-11-12 | 浙江大学 | Flexible mechanical claw for teaching mechanical arm |
| CN113635287B (en) * | 2021-08-20 | 2023-12-19 | 浙江大学 | Flexible mechanical claw for teaching mechanical arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204844165U (en) | Take spacing protection device's industrial machinery arm | |
| CN204868858U (en) | Industrial machinery arm | |
| CN204868859U (en) | Take alarm device's industrial machinery arm | |
| CN103802095B (en) | Four-degree-of-freedom servo manipulator | |
| CN107571248A (en) | A kind of mechanical arm of angle adjustable | |
| US20210114202A1 (en) | Robot using the parallelogram principle | |
| CN204997665U (en) | Four degree of freedom low pressure electric appliances transfer robots | |
| CN103084765B (en) | Be applied to the Cantilever type slide rail mechanism of rectangular coordinate system welding robot | |
| CN203697000U (en) | Four-freedom-degree servo manipulator | |
| CN204565597U (en) | A kind of lock screw Automated assembly machine people | |
| CN203765614U (en) | Manipulator with rotation | |
| CN204054077U (en) | A kind of transfer robot | |
| CN202224871U (en) | Space walking mechanism for platform welding robot | |
| CN104310069A (en) | Glass carrying and stacking manipulator | |
| CN203449318U (en) | Stacking robot sucker gripper device | |
| CN103273478A (en) | Feed manipulator of spring bars former | |
| CN105033527A (en) | Large rolling shaft seal welding tool | |
| CN205733439U (en) | A kind of welding manipulator of Automobile Welding part | |
| CN108942909A (en) | A kind of crawl transportation manipulator structure | |
| CN105643610A (en) | Pneumatic carrying manipulator of assembly unit of production line | |
| CN205734892U (en) | A kind of logistic sorting machine device robot mechanism based on series-parallel connection | |
| CN208560928U (en) | A kind of puma manipulator handling device | |
| CN203184863U (en) | Cantilever type sliding rail mechanism applied to rectangular coordinate system welding robot | |
| CN205165633U (en) | Bearing retainer punching press conveyor hand | |
| CN205166918U (en) | Portable pneumatic manipulator |
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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151216 Termination date: 20210820 |