CN205630611U - Manipulator - Google Patents
Manipulator Download PDFInfo
- Publication number
- CN205630611U CN205630611U CN201620471033.9U CN201620471033U CN205630611U CN 205630611 U CN205630611 U CN 205630611U CN 201620471033 U CN201620471033 U CN 201620471033U CN 205630611 U CN205630611 U CN 205630611U
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- CN
- China
- Prior art keywords
- travel mechanism
- actuator
- mechanical hand
- base station
- cursor
- 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
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Abstract
The utility model relates to a work piece transfer equipment technical field especially discloses a manipulator, including the base station, hinge in the slewing mechanism of base station sliding connection in slewing mechanism's a moving mechanism, sliding connection an in moving mechanism's the 2nd moving mechanism, in actual use, the piece is drawn in the installation on the 2nd moving mechanism, slewing mechanism can rotate and then an adjustment absorption angle for the work piece around the base station, a moving mechanism follows slewing mechanism horizontal migration and then related absorption piece horizontal migration, the 2nd a moving mechanism edge moving mechanism reciprocates and then related absorption piece reciprocates, pass through slewing mechanism, a moving mechanism and the 2nd moving mechanism's cooperation, make the absorption piece can snatch the work piece and remove preset position with the work piece, need not artifical moving workpiece, promote the efficiency that the work piece shifted greatly.
Description
Technical field
This utility model relates to work piece transfer apparatus technical field, in particular discloses a kind of mechanical hand.
Background technology
Along with the progress of industrial technology, increasing product have employed automated production and assembles, and in actual production process, needs each workpiece of product is transported to production station to be processed, then these workpiece are assemblied together the product needed for formation.Traditional workpiece conveying operation relies primarily on artificial conveyance, i.e. by staff, each workpiece of product is moved to desired position one by one, and artificial conveyance workpiece efficiency is the lowest, it is impossible to meet the needs of automated production.
Summary of the invention
In order to overcome shortcoming and defect present in prior art, the purpose of this utility model is to provide a kind of mechanical hand, it is not necessary to artificial travelling workpiece, is greatly promoted the efficiency of workpiece transfer.
For achieving the above object, a kind of mechanical hand of the present utility model, including base station, it is articulated with the rotating mechanism of base station, is slidably connected to the first travel mechanism of rotating mechanism, be slidably connected to the second travel mechanism of the first travel mechanism.
Preferably, described rotating mechanism includes being articulated with the cursor of base station, being installed in the first actuator of base station, and the first actuator is connected with cursor.
Preferably, described cursor is provided with groove, and groove runs through cursor, and groove forms towards the direction extension away from base station, and cursor is equiped with guide pillar, and guide pillar is positioned at groove, and the first travel mechanism is sheathed on guide pillar.
Preferably, the quantity of described guide pillar is two, and two guide pillars are spaced and be arranged in parallel.
Preferably, described first travel mechanism includes being slidably connected to the slide block of rotating mechanism, being installed in the second actuator of rotating mechanism, and the second actuator is connected with slide block.
Preferably, described second travel mechanism includes being installed in the 3rd actuator of the first travel mechanism, being installed in the telescopic arm of the outfan of the 3rd actuator.
Preferably, described telescopic arm includes the slide bar being connected with the outfan of the 3rd actuator, the fixed plate being installed in slide bar, and fixed plate is also equiped with guide rod, and guide rod is slidably connected to the first travel mechanism, and guide rod is spaced with slide bar and be arranged in parallel.
Preferably, described mechanical hand also includes suction piece, and suction piece includes being installed in the cover cap of the second travel mechanism, being installed in the trachea of the second travel mechanism or cover cap, and cover cap is provided with shrinkage pool, one end of trachea is positioned at shrinkage pool and does not stretches out cover cap, and the other end of trachea is used for being connected to vacuum generator.
Preferably, described suction piece also includes the projection that the connecting plate being installed in the first travel mechanism is connected with connecting plate, and cover cap is installed in projection, and shrinkage pool forms away from one end of connecting plate is recessed from cover cap, and projection is provided with stopper slot, and trachea is installed in stopper slot.
Preferably, described mechanical hand also includes that control chamber, rotating mechanism, the first travel mechanism, the second travel mechanism electrically connect with control chamber respectively.
The beneficial effects of the utility model: time actually used, second travel mechanism installs suction piece, rotating mechanism can rotate and then adjust the suction piece angle relative to workpiece around base station, first travel mechanism moves horizontally along rotating mechanism and then related suction piece moves horizontally, second travel mechanism moves up and down along the first travel mechanism and then related suction piece moves up and down, pass through rotating mechanism, first travel mechanism and the cooperation of the second travel mechanism, and then make the suction piece can grabbing workpiece workpiece is moved to precalculated position, without artificial travelling workpiece, it is greatly promoted the efficiency of workpiece transfer.
Accompanying drawing explanation
Fig. 1 is perspective view of the present utility model；
Fig. 2 is the perspective view at another visual angle of this utility model；
Fig. 3 is the perspective view of suction piece of the present utility model；
Fig. 4 is the decomposition texture schematic diagram of suction piece of the present utility model.
Reference includes:
1 base station
2 rotating mechanisms
20 cursors
21 grooves
22 guide pillars
3 first travel mechanisms
30 slide blocks
4 second travel mechanisms
41 slide bars
42 fixed plates
43 guide rods
5 suction pieces
50 cover caps
51 tracheas
52 shrinkage pools
53 connecting plates
54 projections
55 stopper slots.
Detailed description of the invention
For the ease of the understanding of those skilled in the art, being further described this utility model below in conjunction with embodiment and accompanying drawing, the content that embodiment is mentioned is not to restriction of the present utility model.
Referring to Fig. 1, a kind of mechanical hand of the present utility model, including base station 1, the rotating mechanism 2 being hinged on base station 1, the first travel mechanism 3 being slidably connected on rotating mechanism 2, the second travel mechanism 4 being slidably connected in the first travel mechanism 3.
Time actually used, second travel mechanism 4 installs suction piece 5, rotating mechanism 2 can rotate and then adjust the suction piece 5 angle relative to workpiece around base station 1, first travel mechanism 3 moves horizontally along rotating mechanism 2 and then related suction piece 5 moves horizontally, second travel mechanism 4 moves up and down along the first travel mechanism 3 and then related suction piece 5 moves up and down, by rotating mechanism 2, first travel mechanism 3 and the cooperation of the second travel mechanism 4, and then make the suction piece 5 can grabbing workpiece workpiece is moved to precalculated position, without artificial travelling workpiece, it is greatly promoted the efficiency of workpiece transfer.
Refer to Fig. 1 and Fig. 2, described base station 1 is substantially in rectangular-shaped, base station 1 can use metal tube to be formed by connecting, rotating mechanism 2 is perpendicular with base station 1, i.e. rotating mechanism 2 is horizontally disposed with, described rotating mechanism 2 includes the cursor 20 being hinged on base station 1, the first actuator being installed on base station 1, and the first actuator is connected with cursor 20 and is used for driving cursor 20 to rotate.When needing to adjust suction piece 5 relative to the angle of workpiece, the first actuator drives cursor 20 to rotate, cursor 20 when rotating related suction piece 5 rotate, thus realize the change of relative angle between suction piece 5 and workpiece.
In the present embodiment, first actuator can be to drive motor, driving cylinder or electricity cylinder etc., when the first actuator is for driving motor, now can be realized the rotation of cursor 20 by the rotation of the first actuator on cursor 20, be respectively mounted pitch wheel group on the output shaft of the first actuator.It is of course also possible to install worm screw on the output shaft of the first actuator, cursor 20 is installed the turbine with worm engaging；Further, it is also possible to install drivewheel on the output shaft of the first actuator, cursor 20 is installed driven pulley, is connected by transmission band or chain between drivewheel with driven pulley.
When the first actuator is for driving cylinder or electricity cylinder, rocking bar now can be installed on cursor 20, one end of rocking bar is connected with cursor 20, the other end of rocking bar and the piston rod of the first actuator are hinged, when the piston rod of the first actuator stretches out or retracts, rocking bar can be driven to rotate, and the most related connected cursor 20 of rocking bar rotates.
The flat board of described cursor 20 substantially strip; cursor 20 is provided with groove 21; groove 21 runs through cursor 20 along the vertical direction; groove 21 forms towards the direction extension away from base station 1, and cursor 20 is also equipped with guide pillar 22, the cylinder of guide pillar 22 substantially strip; guide pillar 22 is positioned at groove 21; cursor 20 is utilized to protect guide pillar 22, it is to avoid extraneous object collides guide pillar 22, and the first travel mechanism 3 is set on guide pillar 22.
Described first travel mechanism 3 includes the slide block 30 being slidably connected on guide pillar 22, the second actuator being installed on cursor 20, and the second actuator is connected with slide block 30 and drives slide block 30 to move back and forth along guide pillar 22.Second actuator can be to drive cylinder, electricity cylinder or drive motor, and when the second actuator is for driving cylinder or electricity cylinder, the piston rod of the second actuator is connected with slide block 30, is slided along guide pillar 22 by the flexible slide block 30 that realizes of the second actuator.When the second actuator is for driving motor, now guide pillar 22 be threaded rod, and guide pillar 22 is hinged on cursor 20, and slide block 30 is provided with the female thread with shaft, and the second actuator driving guide pillar 22 rotates, and then realizes slide block 30 and move along guide pillar 22.
The quantity of described guide pillar 22 is two, and two guide pillars 22 are spaced and be arranged in parallel, and slide block 30 is provided with two perforation, and each guide pillar 22 is separately mounted in a perforation, by arranging two guide pillars 22, it is ensured that slide block 30 will not rotate during movement.
Described second travel mechanism 4 includes the 3rd actuator being installed on slide block 30, the telescopic arm being installed on the outfan of the 3rd actuator, in the present embodiment, 3rd actuator is for driving cylinder or electricity cylinder, the piston rod of telescopic arm and the 3rd actuator connects, and flexible by piston rod realizes moving up and down of telescopic arm.
Described telescopic arm includes the slide bar 41 being connected with the piston rod of the 3rd actuator, the fixed plate 42 being installed on slide bar 41, fixed plate 42 is the flat board of rectangle, fixed plate 42 is arranged on slide bar 41 one end away from slide block 30, guide rod 43 also it is equiped with in fixed plate 42, guide rod 43 is slidably connected on slide block 30, and guide rod 43 is spaced with slide bar 41 and be arranged in parallel.By setting up slide bar 41, it is ensured that fixed plate 42 will not rotate during movement.
Refer to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, described mechanical hand also includes suction piece 5, suction piece 5 includes the cover cap 50 being installed in fixed plate 42, is installed in the trachea 51 in fixed plate 42 or on cover cap 50, shrinkage pool 52 it is provided with on cover cap 50, one end of trachea 51 is positioned at shrinkage pool 52 and does not stretches out cover cap 50, the other end of trachea 51 is used for being connected to vacuum generator, vacuum generator may be mounted on base station 1, certainly, vacuum generator can also be allowed separately to be independently arranged with mechanical hand, it is only necessary to trachea 51 connects with vacuum generator.Time actually used, mechanical hand moves suction piece 5 and is sticked on workpiece by case, and now workpiece hides shrinkage pool 52, and vacuum generator starts and carries out evacuation, and then by absorption of workpieces on suction piece 5, mechanical hand moves suction piece 5 again and then workpiece is moved to desired position.According to specific needs, it is also possible to set up the quantity of suction piece 5, it is ensured that suction piece 5 once can draw multiple workpiece.
Described suction piece 5 also includes the connecting plate 53 being installed in fixed plate 42, the projection 54 linked together with connecting plate 53, connecting plate 53 is rectangular flat, the body shape of projection 54 is cylindric, in the present embodiment, projection 54 is one-body molded with connecting plate 53, certainly, projection 54 and connecting plate 53 also can be the most separately formed, it is fixed on together the most again, cover cap 50 is installed on projection 54, shrinkage pool 52 forms away from one end of connecting plate 53 is recessed from cover cap 50, stopper slot 55 it is provided with on projection 54, stopper slot 55 runs through projection 54, trachea 51 is installed in stopper slot 55.According to actual needs, those skilled in the art can increase the quantity of stopper slot 55, is all equiped with trachea 51 in each stopper slot 55, for increasing absorption affinity when suction piece 5 draws workpiece；In the present embodiment, the quantity of stopper slot 55 is three, and three stopper slots 55 arrange in isosceles triangle on the cross section of projection 54, and stopper slot 55 forms from the outer surface of projection 54 is recessed.
Described mechanical hand also includes control chamber; first actuator of rotating mechanism 2, the second actuator of the first travel mechanism 3, the 3rd actuator of the second travel mechanism 4 electrically connect with control chamber respectively; such as; first actuator, the second actuator, the 3rd actuator are connected with control chamber by cable respectively; control chamber is utilized to set the first actuator, the second actuator and the operational factor of the 3rd actuator, it is ensured that mechanical hand can realize automated job.As required, control chamber can be arranged on base station 1, it is preferable that control chamber is arranged on the inside of base station 1, prevent external object from colliding control chamber；It is of course also possible to control chamber is separately separately provided with base station 1, for example, it is possible to control chamber is installed on the ground, it is only necessary to the first actuator, the second actuator and the 3rd actuator are electrically connected with control chamber respectively.
Claims (10)
1. a mechanical hand, it is characterised in that: include base station, be articulated with the rotating mechanism of base station, be slidably connected to the first travel mechanism of rotating mechanism, be slidably connected to the second travel mechanism of the first travel mechanism.
Mechanical hand the most according to claim 1, it is characterised in that: described rotating mechanism includes being articulated with the cursor of base station, being installed in the first actuator of base station, and the first actuator is connected with cursor.
Mechanical hand the most according to claim 2, it is characterised in that: described cursor is provided with groove, and groove runs through cursor, and groove forms towards the direction extension away from base station, and cursor is equiped with guide pillar, and guide pillar is positioned at groove, and the first travel mechanism is sheathed on guide pillar.
Mechanical hand the most according to claim 3, it is characterised in that: the quantity of described guide pillar is two, and two guide pillars are spaced and be arranged in parallel.
Mechanical hand the most according to claim 1, it is characterised in that: described first travel mechanism includes being slidably connected to the slide block of rotating mechanism, being installed in the second actuator of rotating mechanism, and the second actuator is connected with slide block.
Mechanical hand the most according to claim 1, it is characterised in that: described second travel mechanism includes being installed in the 3rd actuator of the first travel mechanism, being installed in the telescopic arm of the outfan of the 3rd actuator.
Mechanical hand the most according to claim 6, it is characterized in that: described telescopic arm includes the slide bar being connected with the outfan of the 3rd actuator, the fixed plate being installed in slide bar, fixed plate is also equiped with guide rod, and guide rod is slidably connected to the first travel mechanism, and guide rod is spaced with slide bar and be arranged in parallel.
Mechanical hand the most according to claim 1, it is characterized in that: described mechanical hand also includes suction piece, suction piece includes being installed in the cover cap of the second travel mechanism, being installed in the trachea of the second travel mechanism or cover cap, cover cap is provided with shrinkage pool, one end of trachea is positioned at shrinkage pool and does not stretches out cover cap, and the other end of trachea is used for being connected to vacuum generator.
Mechanical hand the most according to claim 8, it is characterized in that: described suction piece also includes the projection that the connecting plate being installed in the first travel mechanism is connected with connecting plate, cover cap is installed in projection, shrinkage pool forms away from one end of connecting plate is recessed from cover cap, projection is provided with stopper slot, and trachea is installed in stopper slot.
Mechanical hand the most according to claim 1, it is characterised in that: described mechanical hand also includes that control chamber, rotating mechanism, the first travel mechanism, the second travel mechanism electrically connect with control chamber respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620471033.9U CN205630611U (en) | 2016-05-23 | 2016-05-23 | Manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620471033.9U CN205630611U (en) | 2016-05-23 | 2016-05-23 | Manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205630611U true CN205630611U (en) | 2016-10-12 |
Family
ID=57055243
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620471033.9U Expired - Fee Related CN205630611U (en) | 2016-05-23 | 2016-05-23 | Manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205630611U (en) |
-
2016
- 2016-05-23 CN CN201620471033.9U patent/CN205630611U/en not_active Expired - Fee Related
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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: 20161012 Termination date: 20170523 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |