CN205394547U - Mechanical hand is carried fast in assembly line conveying - Google Patents
Mechanical hand is carried fast in assembly line conveying Download PDFInfo
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- CN205394547U CN205394547U CN201620161251.2U CN201620161251U CN205394547U CN 205394547 U CN205394547 U CN 205394547U CN 201620161251 U CN201620161251 U CN 201620161251U CN 205394547 U CN205394547 U CN 205394547U
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- escapement
- movably connected
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- fork
- push away
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- 230000007246 mechanism Effects 0.000 claims abstract description 9
- 230000001360 synchronised effect Effects 0.000 claims abstract description 9
- 230000033001 locomotion Effects 0.000 abstract description 38
- 210000000078 claw Anatomy 0.000 abstract 2
- 230000005540 biological transmission Effects 0.000 abstract 1
- 230000000694 effects Effects 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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Abstract
The utility model relates to an industrial automation equipment, more specifically say, relate to an automated machine hand. Mechanical hand is carried fast in assembly line conveying, including riser, a -frame, servo motor, synchronous transmission mechanism, arm, hand claw, pull rod, horizontal pole, erect slider, sideslip piece, dabber, no. Two dabbers, activity joint, pendulum rod, violently push away the cam, indulge and push away cam, balance, a -frame link firmly in the riser, erect slider fixed connection in longitudinal sliding motion can be followed to the riser pull rod swing joint in erect the slider the end of pull rod links firmly lateral sliding can be followed to the sideslip piece arm swing joint in the slider, the hand claw link firmly in the end of arm. Utilize a servo motor as the driving source, make the manipulator produce the dimensional movement space of anticipation for carry the work piece between the assembly line of difference, the movement track of manipulator is stable, reliable.
Description
Technical field
This utility model relates to industrial automation equipment, more particularly, it relates to a kind of automatic mechanical hand.
Background technology
Mechanical hand refers to imitate some holding function of staff and arm, in order to capture, to carry object or the automatic pilot of operation instrument by fixed routine.It can replace the heavy labor of people to realize the mechanization and the automatization that produce, can operate to protect personal safety under hostile environment, thus be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Mechanical hand is mainly made up of hand, motion and control system three parts.Hand is used to the parts of grasping workpiece (or instrument), has various structures form according to by the grasping shape of object, size, weight, material and job requirements, such as clamp-type, holding type and absorbent-type etc..Motion, makes hand complete various rotation (swing), movement or compound motion and realizes the action of regulation, change and grasped position and the posture of object.The self-movement modes such as the lifting of motion, flexible, rotation, are called the degree of freedom of mechanical hand.Control system is the control by the motor to each degree of freedom of mechanical hand, completes specific action.
But, existing mechanical finger is often driven by multiple motors, and structure is complicated, expensive.
Utility model content
The purpose of this utility model there are provided a kind of streamline and transmits fast removal mechanical hand, this utility model streamline transmits fast removal mechanical hand and achieves light-weight design, utilize a servomotor as drive source, mechanical hand is made to produce the two dimensional motion space of anticipation, for carrying workpiece between different streamlines, the movement locus of mechanical hand is stable, reliable.
A kind of streamline transmits fast removal mechanical hand, including riser, A-frame, servomotor, synchronous drive mechanism, mechanical arm, paw, pull bar, cross bar, perpendicular slide block, cross slider, a number mandrel, No. two mandrels, active joint, fork, horizontal push away cam, indulge and push away cam, escapement, described A-frame is fixed on described riser, described perpendicular slide block is fixed on described riser, the described pull bar that can longitudinally slide is movably connected on described perpendicular slide block, end at described pull bar is connected described cross slider, the described mechanical arm that can transversely slide is movably connected on described slide block, described paw is fixed on the end of described mechanical arm；
Described servomotor is fixed on described A-frame, and a described mandrel, No. two mandrels are movably connected on described riser, and described synchronous drive mechanism connects the output shaft of described servomotor and a described mandrel；
A described mandrel is connected and described horizontal pushes away cam, vertical push away cam, be connected described fork, escapement on described No. two mandrels, described horizontal push away cam and described fork matches, described vertical push away cam and described escapement matches, one end of described fork be movably connected on described horizontal push away on cam, the other end is movably connected on the end of described mechanical arm by described active joint, described escapement is movably connected on described indulging and pushes away cam, the connected cross bar of end at described pull bar, described cross bar is movably connected on described escapement.
Preferably, arranging fork roller on described fork, described fork is movably connected on by described fork roller and described horizontal pushes away cam.
Preferably, arranging an escapement roller on described escapement, described escapement is movably connected on described indulging by a described escapement roller and pushes away cam.
Preferably, arranging No. two escapement rollers on described escapement, described escapement is movably connected on described cross bar by described No. two escapement rollers.
Comparing with conventional art, this utility model streamline transmits fast removal mechanical hand and has following positive role and beneficial effect:
This utility model streamline transmits fast removal mechanical hand for being placed in production line, grabs No. two conveyer belts by workpiece from a conveyer belt, it is achieved workpiece is carried between different streamlines or between different positions.This utility model streamline transmit fast removal mechanical hand described in single power source servomotor as power, transverse movement and lengthwise movement is realized with the vertical cam described paw of control that pushes away, so that described paw constructs the two dimensional motion track being suitable to capture described workpiece by the described horizontal cam that pushes away.In order to obtain two dimensional motion track in traditional digital control system, at least need two servomotors to input as power, and two servomotors are in order to reach the purpose of two-axle interlocking, it is necessary to supporting multi-shaft motion control system, add the burden of control system.This utility model streamline transmits two dimensional motion track produced by fast removal mechanical hand, it is not necessary to complicated interpolation operation a, it is only necessary to servomotor, the burden of control system is little, control program is simple, and movement locus has mechanical system to realize, and movement locus is stable, reliable.
Described horizontal push away cam and the described vertical cam that pushes away is fixed on a described mandrel, described horizontal push away cam and the described vertical relative angle pushing away between cam, determine the movement locus of described paw.
Accompanying drawing explanation
Fig. 1 is the perspective view that this utility model streamline transmits that fast removal mechanical hand is installed on production line；
Fig. 2,3,4,5 are that this utility model streamline transmits fast removal mechanical hand structural representation after removing part.
No. 1 conveyer belts, 2 No. two conveyer belts, 3 workpiece, 4 risers, 5 A-frames, 6 servomotors, 7 synchronous drive mechanisms, 8 mechanical arms, 9 paws, 10 pull bars, 11 cross bars, 12 perpendicular slide blocks, 13 cross sliders, No. 14 mandrels, 15 No. two mandrels, 16 active joints, 17 forks, 18 horizontal push away cam, 19 vertical push away cam, 20 escapements, 21 fork rollers, No. 22 escapement rollers, 23 No. two escapement rollers.
Detailed description of the invention
Below in conjunction with accompanying drawing, this utility model being described in further detail, but do not constitute any restriction of the present utility model, element numbers similar in accompanying drawing represents similar element.As it has been described above, this utility model provides a kind of streamline transmits fast removal mechanical hand, for realizing crawl and the transfer of material.
Fig. 1 is the perspective view that this utility model streamline transmits that fast removal mechanical hand is installed on production line, and Fig. 2,3,4,5 are that this utility model streamline transmits fast removal mechanical hand structural representation after removing part.
A kind of streamline transmits fast removal mechanical hand, including riser 4, A-frame 5, servomotor 6, synchronous drive mechanism 7, mechanical arm 8, paw 9, pull bar 10, cross bar 11, perpendicular slide block 12, cross slider 13, a number mandrel 14, No. two mandrels 15, active joint 16, fork 17, horizontal push away cam 18, indulge and push away cam 19, escapement 20, described A-frame 5 is fixed on described riser 4, described perpendicular slide block 12 is fixed on described riser 4, the described pull bar 10 that can longitudinally slide is movably connected on described perpendicular slide block 12, end at described pull bar 10 is connected described cross slider 13, the described mechanical arm 8 that can transversely slide is movably connected on described slide block 13, described paw 9 is fixed on the end of described mechanical arm 8；
Described servomotor 6 is fixed on described A-frame 5, and 14, No. two mandrels 15 of a described mandrel are movably connected on described riser 4, and described synchronous drive mechanism 7 connects the output shaft of described servomotor 6 and a described mandrel 14；
A described mandrel 14 is connected and described horizontal pushes away cam 18, indulge and push away cam 19, be connected described fork 17 on described No. two mandrels 15, escapement 20, described horizontal push away cam 18 and described fork 17 matches, described vertical push away cam 19 and described escapement 20 matches, one end of described fork 17 is movably connected on and described horizontal pushes away on cam 18, the other end is movably connected on the end of described mechanical arm 8 by described active joint 16, described escapement 20 is movably connected on described indulging and pushes away cam 19, the connected cross bar 11 of end at described pull bar 10, described cross bar 11 is movably connected on described escapement 20.
More specifically, arrange fork roller 21 on described fork 17, described fork 17 is movably connected on by described fork roller 21 and described horizontal pushes away cam 18.
More specifically, arrange an escapement roller 22 on described escapement 20, described escapement 20 is movably connected on described indulging by a described escapement roller 22 and pushes away cam 19.
More specifically, arrange No. two escapement rollers 23 on described escapement 20, described escapement 20 is movably connected on described cross bar 11 by described No. two escapement rollers 23.
Below in conjunction with Fig. 1 to 5, further describe this utility model streamline and transmit operation principle and the work process of fast removal mechanical hand:
This utility model streamline transmits fast removal mechanical hand for being placed in production line, grabs No. two conveyer belts 2 by workpiece 3 from a conveyer belt 1, it is achieved workpiece is carried between different streamlines or between different positions.This utility model streamline transmit fast removal mechanical hand described in single power source servomotor 6 as power, horizontal cam 18 is pushed away and the vertical cam 19 that pushes away controls described paw 9 and realizes transverse movement and lengthwise movement, so that described paw 9 constructs the two dimensional motion track being suitable to capture described workpiece 3 by described.In order to obtain two dimensional motion track in traditional digital control system, at least need two servomotors to input as power, and two servomotors are in order to reach the purpose of two-axle interlocking, it is necessary to supporting multi-shaft motion control system, add the burden of control system.This utility model streamline transmits two dimensional motion track produced by fast removal mechanical hand, it is not necessary to complicated interpolation operation a, it is only necessary to servomotor, the burden of control system is little, control program is simple, and movement locus has mechanical system to realize, and movement locus is stable, reliable.
See Fig. 4, next describe described paw 9 and produce transverse movement.Described servomotor 6 makes the described horizontal cam 18 that pushes away do counterclockwise rotation around a described mandrel 14 by described synchronous drive mechanism 7, the described horizontal cam 18 that pushes away promotes described fork 17 to move, and makes described fork 17 move clockwise around described No. two mandrels 15.Described fork 17 promotes described mechanical arm 8 to produce transverse movement by described active joint 16.Described mechanical arm 8 produces the amplitude of transverse movement and speed and is determined by the described horizontal profile pushing away cam 18 and rotating speed.The transverse movement of described mechanical arm 8 is the described paw 9 component motion at horizontal direction.
See Fig. 5, next describe described paw 9 and produce lengthwise movement.Described escapement 20 is movably connected on described indulging and pushes away cam 19, and the connected cross bar 11 of end at described pull bar 10, described cross bar 11 is movably connected on described escapement 20.Arranging an escapement roller 22 on described escapement 20, described escapement 20 is movably connected on described indulging by a described escapement roller 22 and pushes away cam 19；Arranging No. two escapement rollers 23 on described escapement 20, described escapement 20 is movably connected on described cross bar 11 by described No. two escapement rollers 23.A described escapement roller 22 is movably connected on the described vertical contour surface pushing away cam 19, described vertical pushes away cam 19 and the described horizontal cam 18 that pushes away synchronizes to do around a described mandrel 14 and counterclockwise rotates, and drives described escapement 20 to rotate around described No. two mandrels 15.Owing to described cross bar 11 is movably connected on described No. two escapement rollers 23, there is lengthwise movement with described No. two escapement rollers 23 in described pull bar 10.Described pull bar 10 produces the amplitude of lengthwise movement and speed and is determined by the described vertical profile pushing away cam 19 and rotating speed.The lengthwise movement of described pull bar 10 is the described paw 9 component motion at longitudinal direction.
Described horizontal push away cam 18 and the described vertical cam 19 that pushes away is fixed on a described mandrel 14, described horizontal push away cam 18 and the described vertical relative angle pushing away between cam 19, determine the movement locus of described paw 9.
Finally it is pointed out that above example is only the more representational example of this utility model.Obviously, this utility model is not limited to above-described embodiment, it is also possible to have many deformation.Every any simple modification, equivalent variations and modification above example made according to technical spirit of the present utility model, is all considered as belonging to protection domain of the present utility model.
Claims (4)
1. a streamline transmits fast removal mechanical hand, it is characterized in that composed as follows: include riser, A-frame, servomotor, synchronous drive mechanism, mechanical arm, paw, pull bar, cross bar, perpendicular slide block, cross slider, a number mandrel, No. two mandrels, active joint, fork, horizontal push away cam, indulge and push away cam, escapement, described A-frame is fixed on described riser, described perpendicular slide block is fixed on described riser, the described pull bar that can longitudinally slide is movably connected on described perpendicular slide block, end at described pull bar is connected described cross slider, the described mechanical arm that can transversely slide is movably connected on described slide block, described paw is fixed on the end of described mechanical arm；
Described servomotor is fixed on described A-frame, and a described mandrel, No. two mandrels are movably connected on described riser, and described synchronous drive mechanism connects the output shaft of described servomotor and a described mandrel；
A described mandrel is connected and described horizontal pushes away cam, vertical push away cam, be connected described fork, escapement on described No. two mandrels, described horizontal push away cam and described fork matches, described vertical push away cam and described escapement matches, one end of described fork be movably connected on described horizontal push away on cam, the other end is movably connected on the end of described mechanical arm by described active joint, described escapement is movably connected on described indulging and pushes away cam, the connected cross bar of end at described pull bar, described cross bar is movably connected on described escapement.
2. streamline according to claim 1 transmits fast removal mechanical hand, it is characterised in that arrange fork roller on described fork, and described fork is movably connected on by described fork roller and described horizontal pushes away cam.
3. streamline according to claim 1 transmits fast removal mechanical hand, it is characterised in that arrange an escapement roller on described escapement, and described escapement is movably connected on described indulging by a described escapement roller and pushes away cam.
4. streamline according to claim 1 transmits fast removal mechanical hand, it is characterised in that arranging No. two escapement rollers on described escapement, described escapement is movably connected on described cross bar by described No. two escapement rollers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620161251.2U CN205394547U (en) | 2016-03-02 | 2016-03-02 | Mechanical hand is carried fast in assembly line conveying |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620161251.2U CN205394547U (en) | 2016-03-02 | 2016-03-02 | Mechanical hand is carried fast in assembly line conveying |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205394547U true CN205394547U (en) | 2016-07-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620161251.2U Expired - Fee Related CN205394547U (en) | 2016-03-02 | 2016-03-02 | Mechanical hand is carried fast in assembly line conveying |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105563479A (en) * | 2016-03-02 | 2016-05-11 | 戴毅 | Transferring and rapid carrying mechanical hand for assembly line |
| CN106144591A (en) * | 2016-08-25 | 2016-11-23 | 浙江海悦自动化机械股份有限公司 | A kind of vertical feeding device |
-
2016
- 2016-03-02 CN CN201620161251.2U patent/CN205394547U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105563479A (en) * | 2016-03-02 | 2016-05-11 | 戴毅 | Transferring and rapid carrying mechanical hand for assembly line |
| CN106144591A (en) * | 2016-08-25 | 2016-11-23 | 浙江海悦自动化机械股份有限公司 | A kind of vertical feeding device |
| CN106144591B (en) * | 2016-08-25 | 2018-02-16 | 浙江海悦自动化机械股份有限公司 | A kind of vertical feeding device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Wu Xuerong Inventor after: Liu Liebin Inventor before: Dai Yi |
|
| CB03 | Change of inventor or designer information | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170511 Address after: 523000 Dongguan City, Changan town on the corner of the community Hing Road, No. 54 Patentee after: Dongguan Mao Mao Hardware Co., Ltd. Address before: Tangxia town Ruian city Wenzhou City, Zhejiang province 325000 Guandu Huayuan Road No. 25 Patentee before: Dai Yi |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160727 Termination date: 20190302 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |