CN205969086U - Can grab many function combination arm of holding device by automatic switch -over - Google Patents
Can grab many function combination arm of holding device by automatic switch -over Download PDFInfo
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- CN205969086U CN205969086U CN201620823406.4U CN201620823406U CN205969086U CN 205969086 U CN205969086 U CN 205969086U CN 201620823406 U CN201620823406 U CN 201620823406U CN 205969086 U CN205969086 U CN 205969086U
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- linking arm
- housing
- gripping device
- driver
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Abstract
The utility model discloses a can grab many function combination arm of holding device by automatic switch -over, including the switch board, the frame, first linking arm, the second linking arm, the third linking arm, device automatic switch -over ware is held with grabbing to horizontal detection alarm device, the switch board is connected with the frame electricity, but first linking arm horizontal rotation's setting is on the frame, horizontal detection alarm device sets up the upper surface at first linking arm, and be connected with the switch board electricity, first linking arm, second linking arm and third linking arm connect gradually, be equipped with the control hand (hold) on the third linking arm, grab and hold device automatic switch -over ware setting end a section arbitrary in second linking arm and third linking arm, and be connected with the switch board electricity, grab to hold and be equipped with the several on the device automatic switch -over ware and grab and hold the device. The problem of welding, cutting and transport can cause injury and production efficiency low to the human body during heavy object, need among the prior art simultaneously artifically to switch working apparatus to and discovery equipment slope in time is solved.
Description
Technical field
This utility model is related to mechanical arm field and in particular to a kind of multi-function combined machine for grain treatment of the gripping device that can automatically switch
Tool arm.
Background technology
With the progress of social development and technology, Enterprise Development, there is competitiveness and dominate the market, be necessary for producing
High-quality product, simultaneously for cost-effective, improve production efficiency, all of manufacturing enterprise is all making the transition towards automatization.
The situation of welding, cutting and carrying heavy goods can be run into unavoidably in industrial manufacturing process, using manually carrying out operation
When not only efficiency low, also the health of the personnel of operation can be impacted, because substantial amounts of flue dust can be produced during welding, long-term inhale
Membership causes the pathological changes of body, and then can produce high light when cutting, and eyes can be caused serious injury, and therefore in welding, cuts
Cut and be imperative using automatic mechanization means during carrying heavy goods.
Utility model content
The purpose of this utility model is to provide a kind of multifunctional combination machinery arm of gripping device that can automatically switch, and solves
Welding, cutting and human body can be damaged during carrying heavy goods and low production efficiency problem, solve to need in prior art simultaneously
Will manually work implement is switched over, and can not in time discovering device inclination problem.
For solving above-mentioned technical problem, this utility model employs the following technical solutions：
A kind of gripping device that can automatically switch multifunctional combination machinery arm, including switch board, support, the first linking arm,
Second linking arm, the 3rd linking arm, horizontal detection alarm device and gripping device automatic switchover device, switch board is electrically connected with support
Connect, what the first linking arm can horizontally rotate is arranged on support, horizontal detection alarm device is arranged on the upper table of the first linking arm
Face, and electrically connect with switch board, the second linking arm includes second connecting portion and little revoliving arm, and little revoliving arm is telescopic arm, and the 3rd
Linking arm includes the 3rd connecting portion and vertical guide pillar, and second connecting portion is arranged on the first linking arm one end away from support, little time
One end of pivoted arm is arranged in second connecting portion, and the other end is connected with the 3rd connecting portion, and vertical guide pillar can be vertically upper and lower
Being arranged on the 3rd connecting portion of movement, vertical guide pillar is provided with control and handles, and gripping device automatic switchover device is arranged on second
Any one section of end in linking arm and the 3rd linking arm, and electrically connect with switch board, gripping device automatic switchover device is provided with
Plural gripping device.
Pass through before starting working to control to handle mechanical arm is dragged to fixing operating point position, and write down accordingly by switch board
Positional information, according to different work requirements after starting working, first controls gripping device automatic switchover device to holding with switch board
The gripping device of different operating utensil switches over, and then in the presence of switch board, the first linking arm carries out level rotation around support
Turn, control the second linking arm to be horizontally rotated around second connecting portion simultaneously, now on the second linking arm little revoliving arm is also simultaneously
Carry out telescopic adjustment, after the 3rd linking arm moves to certain position under the drive of little revoliving arm, in the presence of switch board
Vertically guide pillar moves up and down, and work implement is transported to the position of record and carries out operation the most at last, and little revoliving arm is telescopic arm
It is in order to be able to being adjusted to mechanical arm according to operating point position, mechanical arm being enable to realize horizontal extension on the same line
Adjustment, makes it more flexible, because the setting span of the multifunctional combination machinery arm of the above-mentioned gripping device that can automatically switch is larger,
The support being fixed on ground occurs loosening once in a while, is at this moment arranged on the horizontal detection alarm device of the upper surface of the first linking arm
Because of being not at horizontality, and will be reported to the police to switch board transmission signal, remind operator that support is fastened.
A kind of gripping device that can automatically switch multifunctional combination machinery arm, including switch board, support, the first linking arm,
Second linking arm, the 3rd linking arm, the 4th rotating mechanism, the 5th rotating mechanism, horizontal detection alarm device and gripping device are certainly
Dynamic switch, switch board is electrically connected with support, and what the first linking arm can horizontally rotate is arranged on support, and horizontal detection is reported to the police and filled
Put the upper surface being arranged on the first linking arm, and electrically connect with switch board, the second linking arm includes second connecting portion and little revolution
Arm, little revoliving arm is telescopic arm, and the 3rd linking arm includes the 3rd connecting portion and vertical guide pillar, and second connecting portion is arranged on first even
Connect arm one end away from support, one end of little revoliving arm is arranged in second connecting portion, and the other end is connected with the 3rd connecting portion, erect
What straight guide pillar can vertically move up and down is arranged on the 3rd connecting portion, and what the 4th rotating mechanism can horizontally rotate is arranged on
The vertically lower end of guide pillar, the 5th rotating mechanism is connected with the 4th rotating mechanism, and can horizontally rotate be arranged on the 4th whirler
The lower section of structure, vertical guide pillar is provided with control and handles, and gripping device automatic switchover device is arranged on the second linking arm, the 3rd connection
Any one section of end in arm, the 4th rotating mechanism and the 5th rotating mechanism, and electrically connect with switch board, gripping device is cut automatically
Parallel operation is provided with plural gripping device.
As of the present utility model further preferably, above-mentioned 4th rotating mechanism includes the 4th housing, driver, angular displacement
Sensor, input rotating shaft and output section, the lower end being arranged on vertical guide pillar that the 4th housing can horizontally rotate, input rotating shaft edge is perpendicular
The central shaft setting of straight guide pillar, and be located in vertical guide pillar, the lower end of input rotating shaft is fixedly connected with the 4th housing upper bottom surface, defeated
Going out portion passes through the bottom surface of the 4th housing to be arranged on the 4th housing, and driver is all connected simultaneously with output section with angular displacement sensor
It is arranged on the 4th enclosure interior.
Can allow machine in the setting of the lower end of vertical guide pillar around the 4th rotating mechanism of vertical guide pillar central shaft horizontal rotation
The use of tool arm is more flexible, and operationally, switch board controls the input axis of rotation of the 4th rotating mechanism, and the 4th housing exists
Around the central shaft horizontal rotation of vertical guide pillar under the drive of input rotating shaft, and the bottom surface that output section is arranged on the 4th housing then may be used
To allow mechanical arm make more changes on the basis of the 4th rotating mechanism.
As of the present utility model further preferably, above-mentioned output section is defeated by drive pulley, the 4th output revolving shaft and the 4th
Go out arm to constitute, the 4th output arm is arranged vertically at the outside of the 4th housing, and one end is connected with the bottom surface of the 4th housing,
The other end is connected with the 5th rotating mechanism, and the 4th output revolving shaft passes through the bottom surface of the 4th housing to be connected with the 5th rotating mechanism,
And be arranged in the 4th output arm, one end that the 4th output revolving shaft is located in the 4th housing is connected with angular displacement sensor, transmission
Belt wheel is arranged on that section be located in the 4th housing on the 4th output revolving shaft, and is connected with driver.
Further preferably above-mentioned 5th rotating mechanism includes the 5th housing and driver as of the present utility model, and the 5th
What housing can horizontally rotate is arranged on the lower end of the 4th output arm, and is connected with the 4th output revolving shaft, and driver is arranged on the 5th
The inside of housing.
When needing more flexible mechanical arm, the first linking arm, the second linking arm, the 3rd linking arm and the 4th rotating mechanism are all
When can not meet corresponding requirements, on the basis of the 4th rotating mechanism, set up the 5th rotating mechanism, after starting working, switch board 1
The drive pulley of the 4th rotating mechanism can be made to rotate by controlling the driver of the 4th rotating mechanism, drive pulley drive the
Four output revolving shafts rotate, the lower end being arranged on the 4th output arm that can be horizontally rotated due to the 5th housing, and turn with the 4th output
Axle is connected, so under the drive of the 4th output revolving shaft, the 5th rotating mechanism horizontally rotates around the 4th output arm, when the 5th rotation
After mechanism rotates to fixed position in the presence of the 4th output revolving shaft, start corresponding operation.
As of the present utility model further preferably, above-mentioned first linking arm includes pivoting support, angular displacement sensor, drive
Dynamic device and big revoliving arm, what pivoting support can horizontally rotate is arranged on support, and angular displacement sensor is arranged on pivoting support,
Big revoliving arm is divided into horizontal segment and tilting section, and above-mentioned horizontal segment is arranged on pivoting support, and tilting section is obliquely installed, low by one
End be connected with horizontal segment, high one end is connected with the second linking arm, driver be arranged on the horizontal segment of big revoliving arm and with time
Turn supporting to be connected.
When mechanical arm is started working, switch board controls driver on the first linking arm, due to driver and pivoting support phase
Even, so pivoting support is horizontally rotated around support in the presence of driver, big revoliving arm is under the drive of pivoting support
Horizontally rotated also around support, and angular displacement sensor is before starting mechanical arm, be used for revolution during record position
The angle information transfer holding rotation is to switch board.
As of the present utility model further preferably, be provided with the second connecting portion of above-mentioned second linking arm driver, with
Step belt wheel, power transmission shaft and angular displacement sensor, driver is connected with synchronous pulley, and synchronous pulley and angular displacement sensor set respectively
Put the two ends in power transmission shaft, power transmission shaft is connected with one end of above-mentioned little revoliving arm.
When mechanical arm is started working, switch board controls the driver in second connecting portion, driver drives synchronous pulley
Rotate, because synchronous pulley is arranged on power transmission shaft, therefore power transmission shaft rotates together with synchronous pulley, and the one of little revoliving arm
End is connected with power transmission shaft, so little revoliving arm is horizontally rotated around power transmission shaft under the drive of power transmission shaft, angular displacement sensor
It is before starting mechanical arm, be used for the angle information transfer of little revoliving arm rotation during record position to switch board.
As of the present utility model further preferred, it is provided with driver in above-mentioned 3rd connecting portion, driver is led with vertically
Post is connected, and driver is handled with control and electrically connects.In order to be able to mechanical arm is dragged to relevant position with controlling to handle, control handle and
Driver electrically connects, and when writing task point position, pins the control knob controlling on the handle, starts driver, control is handled
Drag to corresponding work point position to be recorded, after starting mechanical arm, switch board controls the driver in the 3rd connecting portion, due to driving
Dynamic device is connected with vertical guide pillar, and now vertically guide pillar moves up and down in the presence of driver, enables work implement to reach phase
The operating point position answered.
As of the present utility model further preferably, above-mentioned gripping device automatic switchover device is by switching rotating disk, connect housing
Constitute, connection housing is cylindrical, connect upper bottom surface and above-mentioned second linking arm, the 3rd linking arm, the 4th whirler of housing
In structure or the 5th rotating mechanism, the end of any one mechanism is flexibly connected, and switching rotating disk is connected with driver, and switches rotating disk
It is arranged on the bottom surface connecting housing, the edge of switching rotating disk is provided with multiple gripping devices, and gripping device is along switching disk edge
Outward-dipping setting.
As of the present utility model further preferred, above-mentioned switch board is connected with demonstrator.Demonstrator is connected on switch board
It is in order to be able to allow the faster left-hand seat of operator.
Compared with prior art, this utility model at least can reach the one of which in following beneficial effect：
1. solve the problems, such as human body be damaged and low production efficiency when present welding, cutting and carrying heavy goods.
2. solve when existing machinery arm uses and taken up space, place is larger, cannot use in some narrow spaces
Problem, make mechanical arm can on the same line horizontal extension adjustment, increased the motility of use.
3. solve the problems, such as discovering device to tilt in time, increased the safety of equipment use.
4. solve the problems, such as to need in prior art manually work implement to be switched over, make the automaticity of equipment
More high.
Brief description
Fig. 1 is structural representation of the present utility model.
Fig. 2 is a kind of multifunctional combination machinery of the gripping device that can automatically switch described in this utility model embodiment 2
The structural representation of arm.
Fig. 3 is a kind of anti-lifting of the multifunctional combination machinery arm of gripping device that can automatically switch described in the utility model
Effect diagram.
Fig. 4 is a kind of side lifting of the multifunctional combination machinery arm of gripping device that can automatically switch described in the utility model
Effect diagram.
Specific embodiment
In order that the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with accompanying drawing and enforcement
Example, is further elaborated to this utility model.It should be appreciated that specific embodiment described herein is only in order to explain
This utility model, is not used to limit this utility model.
Specific embodiment 1：
Fig. 1 show a kind of gripping device that can automatically switch multifunctional combination machinery arm, including switch board 1, support 2,
First linking arm 3, the second linking arm 4, the 3rd linking arm 5, horizontal detection alarm device 17 and gripping device automatic switchover device 18,
Switch board 1 is electrically connected with support 2, and what the first linking arm 3 can horizontally rotate is arranged on support 2, horizontal detection alarm device 17
It is arranged on the upper surface of the first linking arm 3, and electrically connects with switch board 1, the second linking arm 4 includes second connecting portion 41 and little time
Pivoted arm 42, little revoliving arm 42 is telescopic arm, and the 3rd linking arm 5 includes the 3rd connecting portion 51 and vertical guide pillar 52, second connecting portion
41 are arranged on the first linking arm 3 one end away from support 2, and one end of little revoliving arm 42 is arranged in second connecting portion 41, another
End is connected with the 3rd connecting portion 51, and what vertical guide pillar 52 can vertically move up and down is arranged on the 3rd connecting portion 51, erects
Straight guide pillar 52 is provided with control and handles 13, and gripping device automatic switchover device 18 is arranged in the second linking arm 4 and the 3rd linking arm 5
Any one section of end, and electrically connect with switch board 1, gripping device automatic switchover device 18 is provided with plural gripping device
21.
Handle 13 by control before starting working and mechanical arm is dragged to fixing operating point position, and phase is write down by switch board 1
The positional information answered, according to different work requirements after starting working, first uses switch board 1 to control gripping device automatic switchover device 18
The gripping device 21 holding different operating utensil is switched over, then in the presence of switch board 1 first linking arm 3 around support
2 are horizontally rotated, and control the second linking arm 4 to be horizontally rotated around second connecting portion 41 simultaneously, now on the second linking arm 4
Little revoliving arm 42 also carries out telescopic adjustment simultaneously, and the 3rd linking arm 5 moves to certain position under the drive of little revoliving arm 42
Afterwards, in the presence of switch board 1, vertical guide pillar 52 moves up and down, and work implement is transported to the position of record and carries out the most at last
Operation, little revoliving arm 42 is in order to be able to being adjusted to mechanical arm according to operating point position, can enabling mechanical arm for telescopic arm
Realize horizontal extension adjustment on the same line, make it more flexible, due to above-mentioned the multi-functional of gripping device of automatically switching
The setting span of combined machine arm is larger, and the support 2 being fixed on ground occurs loosening once in a while, is at this moment arranged on the first linking arm
The horizontal detection alarm device 17 of 3 upper surface because of being not at horizontality, and will be reported to switch board 1 transmission signal
Alert, remind operator that support 2 is fastened.
Specific embodiment 2：
Fig. 2 show a kind of gripping device that can automatically switch multifunctional combination machinery arm, including switch board 1, support 2,
First linking arm 3, the second linking arm 4, the 3rd linking arm 5, the 4th rotating mechanism 6, the 5th rotating mechanism 7, horizontal detection are reported to the police
Device 17 and gripping device automatic switchover device 18, switch board 1 is electrically connected with support 2, the setting that the first linking arm 3 can horizontally rotate
On support 2, horizontal detection alarm device 17 is arranged on the upper surface of the first linking arm 3, and electrically connects with switch board 1, second
Linking arm 4 includes second connecting portion 41 and little revoliving arm 42, and little revoliving arm 42 is telescopic arm, and the 3rd linking arm 5 includes the 3rd even
Socket part 51 and vertical guide pillar 52, second connecting portion 41 is arranged on the first linking arm 3 one end away from support 2, little revoliving arm 42
One end is arranged in second connecting portion 41, and the other end is connected with the 3rd connecting portion 51, and vertical guide pillar 52 can be vertically upper and lower
Being arranged on the 3rd connecting portion 51 of movement, what the 4th rotating mechanism 6 can horizontally rotate is arranged on the lower end of vertical guide pillar 52, and
Five rotating mechanisms 7 are connected with the 4th rotating mechanism 6, and the lower section being arranged on the 4th rotating mechanism 6 that can horizontally rotate, and vertically lead
Post 52 is provided with control and handles 13, and gripping device automatic switchover device 18 is arranged on the second linking arm 4, the 3rd linking arm 5, the 4th rotation
Any one section of end in rotation mechanism 6 and the 5th rotating mechanism 7, and electrically connect with switch board 1, gripping device automatic switchover device 18
It is provided with plural gripping device 21.
Handle 13 by control before starting working and mechanical arm is dragged to fixing operating point position, and phase is write down by switch board 1
The positional information answered, according to different work requirements after starting working, first uses switch board 1 to control gripping device automatic switchover device 18
The gripping device 21 holding different operating utensil is switched over, then in the presence of switch board 1 first linking arm 3 around support
2 are horizontally rotated, and the second linking arm 4 is horizontally rotated around second connecting portion 41, now little revoliving arm on the second linking arm 4
42 also carry out telescopic adjustment simultaneously, after the 3rd linking arm 5 moves to certain position under the drive of little revoliving arm 42, are controlling
In the presence of cabinet 1, vertical guide pillar 52 moves up and down, simultaneously the 4th rotating mechanism 6 in the lower end of vertical guide pillar 52 around vertically leading
Post 52 central shaft horizontally rotates, and the 5th rotating mechanism 7 rotates in the horizontal direction in the lower section of the 4th rotating mechanism 6, work the most at last
The position being transported to record as utensil carries out operation, little revoliving arm 42 for telescopic arm be in order to be able to according to operating point position come to machinery
Arm is adjusted, and mechanical arm can be enable to realize horizontal extension adjustment on the same line, make it more flexible, due to above-mentioned energy
The setting span of the multifunctional combination machinery arm of automatic switchover gripping device is larger, and the support 2 being fixed on ground occurs once in a while
Loosen, be at this moment arranged on the first linking arm 3 upper surface horizontal detection alarm device 17 will because of being not at horizontality,
And reported to the police to switch board 1 transmission signal, remind operator that support 2 is fastened.
Specific embodiment 3：
The present embodiment is on the basis of specific embodiment 2, the structure of the 4th rotating mechanism 6 to be described in detail,
Above-mentioned 4th rotating mechanism 6 includes the 4th housing 61, driver 8, angular displacement sensor 9, input rotating shaft 62 and output section 63, the
What four housings 61 can horizontally rotate is arranged on the lower end of vertical guide pillar 52, and input rotating shaft 62 sets along the central shaft of vertical guide pillar 52
Put, and be located in vertical guide pillar 52, the lower end of input rotating shaft 62 is fixedly connected with the 4th housing 61 upper bottom surface, and output section 63 passes through
The bottom surface of the 4th housing 61 is arranged on the 4th housing 61, and driver 8 is all connected simultaneously with output section 63 with angular displacement sensor 9
It is arranged on inside the 4th housing 61.
Can be permissible around the 4th rotating mechanism 6 of vertical guide pillar 52 central shaft horizontal rotation in the setting of the lower end of vertical guide pillar 52
Make the use of mechanical arm more flexible, operationally, switch board 1 controls the input rotating shaft 62 of the 4th rotating mechanism 6 to rotate, the
Four housings 61 central shaft around vertical guide pillar 52 under the drive of input rotating shaft 62 horizontally rotates, and output section 63 is arranged on the 4th
The bottom surface of housing 61 then can allow mechanical arm make more changes, the 4th whirler on the basis of the 4th rotating mechanism 6
Structure 6 can vertically, level and the end being mounted obliquely on the 3rd linking arm 5.
Specific embodiment 4：
The present embodiment is to have carried out further instruction to the structure of output section 63 on the basis of specific embodiment 3, on
State output section 63 to be made up of drive pulley 14, the 4th output revolving shaft 15 and the 4th output arm 16, the 4th output arm 16 is along vertical side
To the outside being arranged on the 4th housing 61, one end is connected with the bottom surface of the 4th housing 61, the other end and the 5th rotating mechanism 7 phase
Even, the 4th output revolving shaft 15 passes through the bottom surface of the 4th housing 61 to be connected with the 5th rotating mechanism 7, and is arranged on the 4th output arm
In 16, one end that the 4th output revolving shaft 15 is located in the 4th housing 61 is connected with angular displacement sensor 9, and drive pulley 14 is arranged on
That section being located in the 4th housing 61 on 4th output revolving shaft 15, and be connected with driver 8.
Driver 8 can drive drive pulley 14 to rotate, and drives the 4th output revolving shaft 15 to rotate by drive pulley 14, corner
Displacement sensor 9 is before starting mechanical arm, be used for during record position angle information transfer that the 4th output revolving shaft 15 is rotated to
Switch board 1.
Specific embodiment 5：
The present embodiment is on the basis of specific embodiment 4, the structure of the 5th rotating mechanism 7 to be described in detail,
Above-mentioned 5th rotating mechanism 7 includes the 5th housing 71 and driver 8, and what the 5th housing 71 can horizontally rotate is arranged on the 4th output
The lower end of arm 16, and be connected with the 4th output revolving shaft 15, driver 8 is arranged on the inside of the 5th housing 71.
When the more flexible mechanical arm of needs, the first linking arm 3, the second linking arm 4, the 3rd linking arm 5 and the 4th whirler
When structure 6 all can not meet corresponding requirements, on the basis of the 4th rotating mechanism 6, set up the 5th rotating mechanism 7, after starting working,
Switch board 1 can make the drive pulley 14 of the 4th rotating mechanism 6 rotate by controlling the driver 8 of the 4th rotating mechanism 6, passes
Movable belt pulley 14 drives the 4th output revolving shaft 15 to rotate, and is arranged on the 4th output arm 16 due to what the 5th housing 71 can horizontally rotate
Lower end, and the 4th output revolving shaft 15 is connected, so under the drive of the 4th output revolving shaft 15, the 5th rotating mechanism 7 is defeated around the 4th
Go out arm 16 to horizontally rotate, after the 5th rotating mechanism 7 rotates to fixed position in the presence of the 4th output revolving shaft 15, start phase
Answer operation.
Specific embodiment 6：
The present embodiment is to have carried out further instruction to the structure of the first linking arm 3 on the basis of specific embodiment 1,
Above-mentioned first linking arm 3 includes pivoting support 31, angular displacement sensor 9, driver 8 and big revoliving arm 32, and pivoting support 31 can
Horizontally rotate is arranged on support 2, and angular displacement sensor 9 is arranged on pivoting support 31, and big revoliving arm 32 is divided into level
Section 321 and tilting section 322, above-mentioned horizontal segment 321 is arranged on pivoting support 31, and tilting section 322 is obliquely installed, low one end with
Horizontal segment 321 is connected, and high one end is connected with the second linking arm 4, and driver 8 is arranged on the horizontal segment 321 of big revoliving arm 32
And be connected with pivoting support 31.
When mechanical arm is started working, switch board 1 controls driver 8 on the first linking arm 3, due to driver 8 and revolution
Hold 31 to be connected, so pivoting support 31 is horizontally rotated around support 2 in the presence of driver 8, big revoliving arm 32 is in revolution
Horizontally rotated also around support 2 under the drive of supporting 31, and angular displacement sensor 9 is before starting mechanical arm, recorded position
For the angle information transfer that rotates pivoting support 31 to switch board 1 when putting.
Specific embodiment 7：
The present embodiment is to have carried out further instruction to the structure of the second linking arm 4 on the basis of specific embodiment 1,
It is provided with driver 8, synchronous pulley 10, power transmission shaft 11 and angular displacement sensor in the second connecting portion 41 of above-mentioned second linking arm 4
9, driver 8 is connected with synchronous pulley 10, and synchronous pulley 10 and angular displacement sensor 9 are separately positioned on the two ends of power transmission shaft 11,
Power transmission shaft 11 is connected with one end of above-mentioned little revoliving arm 42.
When mechanical arm is started working, switch board 1 controls the driver 8 in second connecting portion 41, and driver 8 drives Timing Belt
The rotation of wheel 10, because synchronous pulley 10 is arranged on power transmission shaft 11, therefore power transmission shaft 11 rotates together with synchronous pulley 10,
And one end of little revoliving arm 42 is connected with power transmission shaft 11, so little revoliving arm 42 enters around power transmission shaft 11 under the drive of power transmission shaft 11
Row horizontal rotation, angular displacement sensor 9 is before starting mechanical arm, is used for the angle rotating little revoliving arm 42 during record position
Information transmission is to switch board 1.
Specific embodiment 8：
The present embodiment is on the basis of specific embodiment 1, the structure of above-mentioned 3rd connecting portion 51 have been carried out further
Illustrate, be provided with driver 8 in above-mentioned 3rd connecting portion 51, driver 8 is connected with vertical guide pillar 52, and driver 8 and control handle
13 electrical connections.In order to be able to being handled 13 mechanical arm being dragged to relevant position with controlling, control handle 13 and driver 8 electrically connect,
During writing task point position, pin and control the control knob handling on 13, start driver 8, control is handled 13 and drags to accordingly
Work point position recorded, start mechanical arm after, switch board control 1 make the 3rd connecting portion 51 in driver 8, due to driver 8
It is connected with vertical guide pillar 52, now vertically guide pillar 52 moves up and down in the presence of driver 8, enables work implement to reach phase
The operating point position answered.
Specific embodiment 9：
The present embodiment is the structure of gripping device automatic switchover device 18 have been carried out entering one on the basis of specific embodiment 2
The explanation of step, above-mentioned gripping device automatic switchover device 18 is made up of switching rotating disk 19 and connection housing 20, and connecting housing 20 is in circle
Column, connects upper bottom surface and above-mentioned second linking arm 4, the 3rd linking arm 5, the 4th rotating mechanism 6 or the 5th rotation of housing 20
In mechanism 7, the end of any one mechanism is flexibly connected, and switching rotating disk 19 is connected with driver 8, and switching rotating disk 19 is arranged on
Connect the bottom surface of housing 20, the edge of switching rotating disk 19 is provided with multiple gripping devices 21, and gripping device 21 is along switching rotating disk 19
The outward-dipping setting in edge.
When needing to carry out different work, the driver 8 on switching rotating disk 19 is started by switch board 1, in driver 8
Under effect, switching rotating disk 19 rotates on the bottom surface connecting housing 20, has driven the gripping device 21 switching on rotating disk 19
Rotate, different gripping devices 21 is provided with different work implements, is so achieved that the automatic switchover of work implement, connect
Housing 20 and any one mechanism in above-mentioned second linking arm 4, the 3rd linking arm 5, the 4th rotating mechanism or the 5th rotating mechanism
End be flexibly connected be in order to be able to according to different situations, be adjusted to the angle of gripping device automatic switchover device 18.
Specific embodiment 10：
The present embodiment is to be additionally arranged demonstrator 16 on the basis of specific embodiment 1, and above-mentioned switch board 1 is connected with demonstrator
16.Connecting demonstrator 16 on switch board 1 is in order to be able to allow the faster left-hand seat of operator.
Specific embodiment 11：
Fig. 3 and Fig. 4 shows a kind of multifunctional combination machinery arm of gripping device that can automatically switch, and the present embodiment is in tool
On the basis of any one in body embodiment 1 to 10, further optimization is carried out to the installation site of mechanical arm, above-mentioned energy is certainly
The anti-lifting of multifunctional combination machinery arm of dynamic switching gripping device or side lifting.
Although reference be made herein to multiple explanatory embodiment of the present utility model is described to this utility model, but,
It should be understood that those skilled in the art can be designed that a lot of other modifications and embodiment, these are changed and embodiment
To fall within spirit disclosed in the present application and spirit.More specifically, in disclosure, drawings and claims
In the range of, multiple modifications and improvement can be carried out to the building block of theme composite configuration and/or layout.Except to building block
And/or the deformation that carries out of layout and improve outer, to those skilled in the art, other purposes also will be apparent from.
Claims (10)
1. a kind of gripping device that can automatically switch multifunctional combination machinery arm it is characterised in that：Including switch board（1）, support
（2）, the first linking arm（3）, the second linking arm（4）, the 3rd linking arm（5）, horizontal detection alarm device（17）And gripping device
Automatic switchover device（18）, switch board（1）With support（2）Electrical connection, the first linking arm（3）Can horizontally rotate is arranged on support
（2）On, horizontal detection alarm device（17）It is arranged on the first linking arm（3）Upper surface, and and switch board（1）Electrical connection, the
Two linking arms（4）Including second connecting portion（41）With little revoliving arm（42）, little revoliving arm（42）For telescopic arm, the 3rd linking arm
（5）Including the 3rd connecting portion（51）With vertical guide pillar（52）, second connecting portion（41）It is arranged on the first linking arm（3）Away from support
（2）One end, little revoliving arm（42）One end be arranged on second connecting portion（41）Interior, the other end and the 3rd connecting portion（51）Phase
Even, vertical guide pillar（52）Can vertically move up and down is arranged on the 3rd connecting portion（51）On, vertical guide pillar（52）On set
Control is had to handle（13）, gripping device automatic switchover device（18）It is arranged on the second linking arm（4）With the 3rd linking arm（5）In arbitrarily
One section of end, and and switch board（1）Electrical connection, gripping device automatic switchover device（18）It is provided with plural gripping device
（21）.
2. a kind of gripping device that can automatically switch multifunctional combination machinery arm it is characterised in that：Including switch board（1）, support
（2）, the first linking arm（3）, the second linking arm（4）, the 3rd linking arm（5）, the 4th rotating mechanism（6）, the 5th rotating mechanism
（7）, horizontal detection alarm device（17）With gripping device automatic switchover device（18）, switch board（1）With support（2）Electrical connection, the
One linking arm（3）Can horizontally rotate is arranged on support（2）On, horizontal detection alarm device（17）It is arranged on the first linking arm
（3）Upper surface, and and switch board（1）Electrical connection, the second linking arm（4）Including second connecting portion（41）With little revoliving arm
（42）, little revoliving arm（42）For telescopic arm, the 3rd linking arm（5）Including the 3rd connecting portion（51）With vertical guide pillar（52）, second
Connecting portion（41）It is arranged on the first linking arm（3）Away from support（2）One end, little revoliving arm（42）One end be arranged on second even
Socket part（41）Interior, the other end and the 3rd connecting portion（51）It is connected, vertical guide pillar（52）The setting that can vertically move up and down
In the 3rd connecting portion（51）On, the 4th rotating mechanism（6）Can horizontally rotate is arranged on vertical guide pillar（52）Lower end, the 5th rotation
Rotation mechanism（7）With the 4th rotating mechanism（6）Be connected, and can horizontally rotate be arranged on the 4th rotating mechanism（6）Lower section, vertically
Guide pillar（52）It is provided with control to handle（13）, gripping device automatic switchover device（18）It is arranged on the second linking arm（4）, the 3rd connection
Arm（5）, the 4th rotating mechanism（6）With the 5th rotating mechanism（7）In any one section of end, and and switch board（1）Electrical connection, grabs
Hold device automatic switchover device（18）It is provided with plural gripping device（21）.
3. a kind of gripping device that can automatically switch according to claim 2 multifunctional combination machinery arm it is characterised in that：
Described 4th rotating mechanism（6）Including the 4th housing（61）, driver（8）, angular displacement sensor（9）, input rotating shaft（62）With
Output section（63）, the 4th housing（61）Can horizontally rotate is arranged on vertical guide pillar（52）Lower end, input rotating shaft（62）Edge is perpendicular
Straight guide pillar（52）Central shaft setting, and be located at vertical guide pillar（52）Interior, input rotating shaft（62）Lower end and the 4th housing（61）
Upper bottom surface is fixedly connected, output section（63）Through the 4th housing（61）Bottom surface be arranged on the 4th housing（61）On, driver
（8）And angular displacement sensor（9）All and output section（63）It is connected and is arranged on the 4th housing（61）Internal.
4. a kind of gripping device that can automatically switch according to claim 3 multifunctional combination machinery arm it is characterised in that：
Described output section（63）By drive pulley（14）, the 4th output revolving shaft（15）With the 4th output arm（16）Constitute, the 4th output arm
（16）It is arranged vertically at the 4th housing（61）Outside, one end and the 4th housing（61）Bottom surface be connected, the other end
With the 5th rotating mechanism（7）It is connected, the 4th output revolving shaft（15）Through the 4th housing（61）Bottom surface and the 5th rotating mechanism
（7）It is connected, and be arranged on the 4th output arm（16）Interior, the 4th output revolving shaft（15）Positioned at the 4th housing（61）Interior one end and angle
Displacement transducer（9）It is connected, drive pulley（14）It is arranged on the 4th output revolving shaft（15）Above it is located at the 4th housing（61）Interior that
Section, and and driver（8）It is connected.
5. a kind of gripping device that can automatically switch according to claim 4 multifunctional combination machinery arm it is characterised in that：
Described 5th rotating mechanism（7）Including the 5th housing（71）And driver（8）, the 5th housing（71）Can horizontally rotate is arranged on
4th output arm（16）Lower end, and with the 4th output revolving shaft（15）It is connected, driver（8）It is arranged on the 5th housing（71）Interior
Portion.
6. the multifunctional combination machinery arm of a kind of gripping device that can automatically switch according to claim 1 and 2, its feature exists
In：Described first linking arm（3）Including pivoting support（31）, angular displacement sensor（9）, driver（8）With big revoliving arm（32）,
Pivoting support（31）Can horizontally rotate is arranged on support（2）On, angular displacement sensor（9）It is arranged on pivoting support（31）On,
Big revoliving arm（32）It is divided into horizontal segment（321）And tilting section（322）, described horizontal segment（321）It is arranged on pivoting support（31）
On, tilting section（322）It is obliquely installed, low one end and horizontal segment（321）It is connected, high one end and the second linking arm（4）It is connected,
Driver（8）It is arranged on big revoliving arm（32）Horizontal segment（321）Go up and and pivoting support（31）It is connected.
7. the multifunctional combination machinery arm of a kind of gripping device that can automatically switch according to claim 1 and 2, its feature exists
In：Described second linking arm（4）Second connecting portion（41）Inside it is provided with driver（8）, synchronous pulley（10）, power transmission shaft（11）With
Angular displacement sensor（9）, driver（8）With synchronous pulley（10）It is connected, synchronous pulley（10）And angular displacement sensor（9）Respectively
It is arranged on power transmission shaft（11）Two ends, power transmission shaft（11）With described little revoliving arm（42）One end be connected.
8. the multifunctional combination machinery arm of a kind of gripping device that can automatically switch according to claim 1 and 2, its feature exists
In：Described 3rd connecting portion（51）Inside it is provided with driver（8）, driver（8）With vertical guide pillar（52）It is connected, driver（8）With
Control handles（13）Electrical connection.
9. a kind of gripping device that can automatically switch according to claim 2 multifunctional combination machinery arm it is characterised in that：
Described gripping device automatic switchover device（18）By switching rotating disk（19）, connect housing（20）Constitute, connect housing（20）In cylinder
Shape, connects housing（20）Upper bottom surface and described second linking arm（4）, the 3rd linking arm (5), the 4th rotating mechanism（6）Or the
Five rotating mechanisms（7）In any one mechanism end be flexibly connected, switch rotating disk（19）On be connected with driver（8）, and switch
Rotating disk（19）It is arranged on connection housing（20）Bottom surface, switch rotating disk（19）Edge be provided with multiple gripping devices（21）, grab
Hold device（21）Along switching rotating disk（19）The outward-dipping setting in edge.
10. the multifunctional combination machinery arm of a kind of gripping device that can automatically switch according to claim 1 and 2, its feature
It is：Described switch board（1）On be connected with demonstrator（16）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620823406.4U CN205969086U (en) | 2016-08-02 | 2016-08-02 | Can grab many function combination arm of holding device by automatic switch -over |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620823406.4U CN205969086U (en) | 2016-08-02 | 2016-08-02 | Can grab many function combination arm of holding device by automatic switch -over |
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| Publication Number | Publication Date |
|---|---|
| CN205969086U true CN205969086U (en) | 2017-02-22 |
Family
ID=58028451
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620823406.4U Active CN205969086U (en) | 2016-08-02 | 2016-08-02 | Can grab many function combination arm of holding device by automatic switch -over |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108535500A (en) * | 2018-06-08 | 2018-09-14 | 浙江大学 | A kind of oocyte pickup while in operation liquor folliculi transfer device |
| CN109290467A (en) * | 2018-11-30 | 2019-02-01 | 昆山久茂电子科技有限公司 | A kind of metal shell automatic stamping production equipment |
| CN111673321A (en) * | 2020-05-27 | 2020-09-18 | 南通大学 | Multifunctional weldment processing device based on visual identification and control method |
| CN113341822A (en) * | 2021-06-17 | 2021-09-03 | 中智电气南京有限公司 | Electric control system and method for sorting type breaking and disassembling machine |
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2016
- 2016-08-02 CN CN201620823406.4U patent/CN205969086U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108535500A (en) * | 2018-06-08 | 2018-09-14 | 浙江大学 | A kind of oocyte pickup while in operation liquor folliculi transfer device |
| CN108535500B (en) * | 2018-06-08 | 2024-01-12 | 浙江大学 | Follicular fluid transfer device between puncture ovum technique of getting |
| CN109290467A (en) * | 2018-11-30 | 2019-02-01 | 昆山久茂电子科技有限公司 | A kind of metal shell automatic stamping production equipment |
| CN111673321A (en) * | 2020-05-27 | 2020-09-18 | 南通大学 | Multifunctional weldment processing device based on visual identification and control method |
| CN113341822A (en) * | 2021-06-17 | 2021-09-03 | 中智电气南京有限公司 | Electric control system and method for sorting type breaking and disassembling machine |
| CN113341822B (en) * | 2021-06-17 | 2023-03-14 | 中智电气南京有限公司 | Electric control system and method for sorting type breaking and disassembling machine |
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Address after: 650000 15A, 15 floor, block B, Kunming EGO Digital Center (two phase), No. 898 Beijing Road, Panlong District, Kunming, Yunnan. Patentee after: Yunnan Canaan Technology Co., Ltd. Address before: 650000 room 2108, C building, good world garden, East Beijing Road, Panlong District, Kunming, Yunnan. Patentee before: FEIQI TECHNOLOGY YUNNAN CO., LTD. |
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