CN206598299U - A kind of new mechanical arm - Google Patents
A kind of new mechanical arm Download PDFInfo
- Publication number
- CN206598299U CN206598299U CN201720268371.7U CN201720268371U CN206598299U CN 206598299 U CN206598299 U CN 206598299U CN 201720268371 U CN201720268371 U CN 201720268371U CN 206598299 U CN206598299 U CN 206598299U
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- CN
- China
- Prior art keywords
- swing arm
- mechanical arm
- arm
- flip
- fixture
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Abstract
The utility model is related to a kind of new mechanical arm, including：Base, rotate torsions platform in base, the manipulator main body that is movably arranged on torsion platform, and master control borad；Wherein described to reverse the steering wheel that platform be rotated freely provided with driving manipulator main body, the master control borad is electrically connected with the drive device of the work of control steering wheel and manipulator body of work；The manipulator main body includes mechanical arm base, swing arm motion mechanism, flip-flop movement mechanism and actuating station rotational motion mechanism；The swing arm motion mechanism is rotated and is carried on the mechanical arm base；The flip-flop movement mechanism is rotated and is carried in the swing arm motion mechanism；The actuating station rotational motion mechanism is carried in the flip-flop movement mechanism.New mechanical arm of the present utility model is made of sheet metal component, and cost is low, compact conformation, stable movement.
Description
Technical field
The utility model is related to manipulator technical field, more particularly to a kind of new mechanical arm.
Background technology
Manipulator, can imitate some holding functions of human hand and arm, to be captured by fixed routine, carry object or operation
The automatic pilot of instrument.It can replace the heavy labor of people to realize the mechanization and automation of production, can be in harmful ring
Operated under border to protect personal safety, thus be widely used in machine-building, metallurgy, electronics, light industry and atomic energy department.
For manipulator, because it is by imitating the structure of human hand and motor function with human hand, therefore manipulator
It is to include numerous drive devices.And for existing manipulator, because its each drive device sets unreasonable, there is knot
Structure complexity, bumpy motion and the low defect of kinematic accuracy, so that being unfavorable for existing manipulator is adapted to technological requirement height
Occasion.And most manipulators, existing many manipulators, using abrasive article structures, cost is high.
Utility model content
The purpose of this utility model is to provide compact conformation, easy to use, the skill of the steady efficient reclaimer robot of running
Art problem.
In order to solve the above-mentioned technical problem, the utility model provides a kind of new mechanical arm, including：Base, rotation exist
The torsion platform of base, the manipulator main body being movably arranged on torsion platform, and master control borad；Wherein described torsion platform is provided with drive
The steering wheel that dynamic manipulator main body can be rotated freely, the master control borad is electrically connected with the work of control steering wheel and manipulator body of work
Drive device；The manipulator main body includes mechanical arm base, swing arm motion mechanism, flip-flop movement mechanism and actuating station rotation fortune
Motivation structure；The swing arm motion mechanism is rotated and is carried on the mechanical arm base；The flip-flop movement mechanism is rotated and is carried on
In the swing arm motion mechanism；The actuating station rotational motion mechanism is carried in the flip-flop movement mechanism；And the pendulum
Arm motion includes swing arm driving device and the swing arm unit of motion is controlled by the swing arm driving device；Flip-flop movement mechanism bag
Include upset driver and the upset component by the upset driver control；The actuating station rotational motion mechanism includes rotation driving
Device and the rotary components controlled by the rotating driver；Described rotary components include the gripper component for being used to grip product.
Further, the gripper component includes gripper frame, and the gripper frame bottom is provided with left fixture and right fixture；And institute
State the left and right driving component for being fixed with gripper frame and being respectively adapted to drive left and right fixture opening and closing.
Further, the left and right driving component includes the first cylinder and the second cylinder；The left and right fixture includes
First fixture and the second fixture；First cylinder and the second cylinder lower surface are correspondingly provided with the first jaw and the second gas respectively
Pawl；First jaw connects the first fixture, and second jaw connects the second fixture, i.e., described first jaw is in the first gas
Under the control of cylinder, the second jaw is under the control of the second cylinder, while driving the first fixture and the second fixture to carry out opening/closing
Motion.
Further, first fixture and the second fixture are symmetrical arranged, and are set in relative medial surface provided with some mirror images
Product, is caught in described " U " type groove by " U " the type groove put to clamp during product.
Further, the mechanical arm base includes first mechanical arm, second mechanical arm and for connecting first, second machinery
The mechanical arm connecting rod of arm；And the swing arm unit includes corresponding rotated with first mechanical arm and second mechanical arm respectively and is connected
The first swing arm and the second swing arm；Provided with some to connect the first swing arm and the between the first described swing arm and the second swing arm
The swing arm connecting rod of two swing arms；Described swing arm driving device is arranged at first mechanical arm and the first swing arm junction, and the swing arm is driven
The output shaft of dynamic device is suitable to the active bearings rotation that driving is arranged on the inside of the first swing arm, so as to drive swing arm unit to do the bottom
Arm is moved.
Further alternative, the upset component also includes flip-arm；It is described upset driver be arranged at the second swing arm with
Flip-arm junction, the output shaft of the upset driver is suitable to the active bearings rotation that driving is arranged on the inside of flip-arm, so that
Upset component is driven to spin upside down motion.
Further alternative, the upset component also includes flip-arm and the trip shaft being arranged on flip-arm；It is described
Upset driver be arranged at second mechanical arm and the second swing arm junction, the output shaft of the upset driver is connected with one
Driver blade；And a drive link is provided between the trip shaft and driver blade, it is suitable for being passed by the upset driver driving
Lever so drive flip-arm spin upside down motion.
Further, the master control borad is the driving switch that drive device is additionally provided with single-chip microcomputer, the master control borad；And institute
State drive device and use servomotor.
Further, the bottom of the supporting leg of the base is provided with pulley with locking mechanism.
The beneficial effects of the utility model are that new mechanical arm of the present utility model is made of sheet metal component, and cost is low, knot
Structure is compact, stable movement.
Brief description of the drawings
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 is the structural representation of new mechanical arm of the present utility model；
Fig. 2 is the top view of new mechanical arm of the present utility model.
In figure：Base 1, swing arm driving device 2, upset driver 3, rotating driver 4, the first cylinder 5, the second cylinder 6, the
One fixture 7, the second fixture 8, " U " type groove 9, first mechanical arm 10, second mechanical arm 11, the first swing arm 12, the second swing arm 13,
Flip-arm 14, trip shaft 15, driver blade 16, drive link 17, supporting leg 18, steering wheel 19.
Embodiment
The utility model is described in further detail presently in connection with accompanying drawing.These accompanying drawings are simplified schematic diagram,
Only illustrate basic structure of the present utility model in a schematic way, therefore it only shows the composition relevant with the utility model.
As shown in Figure 1 to Figure 2, a kind of new mechanical arm of the present utility model, including：Base 1, rotate base 1 torsion
Turntable, the manipulator main body being movably arranged on torsion platform, and master control borad；Wherein described torsion platform is provided with driving manipulator
The steering wheel 19 that main body can be rotated freely, the master control borad be electrically connected with control steering wheel 19 work and manipulator body of work driving
Device；The manipulator main body includes mechanical arm base 1, swing arm motion mechanism, flip-flop movement mechanism and actuating station rotary motion
Mechanism；The swing arm motion mechanism is rotated and is carried on the mechanical arm base 1；The flip-flop movement mechanism rotates and is carried on institute
State in swing arm motion mechanism；The actuating station rotational motion mechanism is carried in the flip-flop movement mechanism；And the swing arm
Motion includes swing arm driving device 2 and the swing arm unit of motion is controlled by the swing arm driving device 2；Flip-flop movement mechanism bag
Include upset driver 3 and the upset component controlled by the upset driver 3；The actuating station rotational motion mechanism includes rotation and driven
Dynamic device 4 and the rotary components controlled by the rotating driver 4；Described rotary components include the gripper group for being used to grip product
Part.
Optionally, the swing arm driving device 2, upset driver 3 and rotating driver 4 can use servomotor.
Specifically, the gripper component includes gripper frame, the gripper frame bottom is provided with left fixture and right fixture；And institute
State the left and right driving component for being fixed with gripper frame and being respectively adapted to drive left and right fixture opening and closing.
The left and right driving component includes the first cylinder 5 and the second cylinder 6；The left and right fixture includes the first folder
The fixture 8 of tool 7 and second；The lower surface of first cylinder, 5 and second cylinder 6 is correspondingly provided with the first jaw and the second jaw respectively；
First jaw connects the first fixture 7, and second jaw connects the second fixture 8, i.e., described first jaw is in the first gas
Under the control of cylinder 5, the second jaw under the control of the second cylinder 6, while drive the first fixture 7 and the second fixture 8 open/
Closing motion.
The fixture 8 of first fixture 7 and second is symmetrical arranged, and set in relative medial surface provided with some mirror images
Product, is caught in described " U " type groove 9 by " U " type groove 9 to clamp during product.
The mechanical arm base 1 includes first mechanical arm 10, second mechanical arm 11 and for connecting first, second mechanical arm
11 mechanical arm connecting rod；And the swing arm unit is rotated including corresponding to respectively with first mechanical arm 10 and second mechanical arm 11
The first swing arm 12 and the second swing arm 13 of connection；Provided with some to connect between the first described swing arm 12 and the second swing arm 13
First swing arm 12 and the swing arm connecting rod of the second swing arm 13；Described swing arm driving device 2 is arranged at first mechanical arm 10 and first
The junction of swing arm 12, the output shaft of the swing arm driving device 2 is suitable to the active bearings rotation that driving is arranged at the inner side of the first swing arm 12,
So as to drive swing arm unit to do pumping arm action campaign.Specifically, passing through one between the active bearings and the inner side of the first swing arm 12
Flange is connected.
Optionally, the upset component also includes flip-arm 14；The upset driver 3 is arranged at the second swing arm 13 with turning over
The junction of pivoted arm 14, the output shaft of the upset driver 3 is suitable to the active bearings rotation that driving is arranged at the inner side of flip-arm 14, from
And drive upset component to spin upside down motion.Connected between the active bearings and the inner side of flip-arm 14 by a flange.
Optionally, the upset component also includes flip-arm 14 and the trip shaft 15 being arranged on flip-arm 14；It is described
Upset driver 3 be arranged at the junction of 11 and second swing arm of second mechanical arm 13, the output shaft transmission of the upset driver 3 connects
It is connected to a driver blade 16；And a drive link 17 is provided between the trip shaft 15 and driver blade 16, it is suitable for being turned over by described
Turn the driving drive link 17 of driver 3 and then drive flip-arm 14 to spin upside down motion.By drive link 17, make upset driver
3 are arranged on the junction of 11 and second swing arm of second mechanical arm 13, and the second swing arm 13 and flip-arm 14 are arranged at compared to by driver
Junction, the effect for design of sinking with motor mitigates the load force of the joint of flip-arm 14, final to improve upset component movement
Stationarity and high efficiency.
The master control borad is the driving switch that drive device is additionally provided with single-chip microcomputer, the master control borad；And the driving
Device uses servomotor.
Specifically, first, second mechanical arm 11 of the present utility model, first, swing arm second and swing arm use sheet metal component
It is made, cost is low.
The bottom of the supporting leg 18 of the base 1 is provided with pulley with locking mechanism.It is easy to move by the pulley of setting
Move manipulator of the present utility model.
Using it is above-mentioned according to desirable embodiment of the present utility model as enlightenment, pass through above-mentioned description, related work people
Member can carry out various changes and amendments in the range of without departing from this utility model technological thought completely.This reality
The content on specification is not limited to new technical scope, it is necessary to its technology is determined according to right
Property scope.
Claims (9)
1. a kind of new mechanical arm, it is characterised in that including：Base, rotate base torsion platform, be movably arranged on torsion platform
On manipulator main body, and master control borad；Wherein
The steering wheel that the torsion platform can be rotated freely provided with driving manipulator main body, the master control borad is electrically connected with control steering wheel
Work and the drive device of manipulator body of work；
The manipulator main body includes mechanical arm base, swing arm motion mechanism, flip-flop movement mechanism and actuating station rotary motion machine
Structure；The swing arm motion mechanism is rotated and is carried on the mechanical arm base；The flip-flop movement mechanism rotation is carried on described
In swing arm motion mechanism；The actuating station rotational motion mechanism is carried in the flip-flop movement mechanism；And
The swing arm motion mechanism includes swing arm driving device and the swing arm unit of motion is controlled by the swing arm driving device；The upset
Motion includes upset driver and the upset component by the upset driver control；The actuating station rotational motion mechanism bag
Include rotating driver and the rotary components controlled by the rotating driver；
Described rotary components include the gripper component for being used to grip product.
2. new mechanical arm according to claim 1, it is characterised in that the gripper component includes
Gripper frame, the gripper frame bottom is provided with left fixture and right fixture；And
The left and right driving component for being respectively adapted to drive left and right fixture opening and closing is fixed with the gripper frame.
3. new mechanical arm according to claim 2, it is characterised in that the left and right driving component includes the first gas
Cylinder and the second cylinder；The left and right fixture includes the first fixture and the second fixture；First cylinder and the second cylinder lower end
Face is correspondingly provided with the first jaw and the second jaw respectively；First jaw connects the first fixture, and second jaw is connected
Second fixture, i.e.,
First jaw is under the control of the first cylinder, and the second jaw is under the control of the second cylinder, while driving first to press from both sides
Tool and the second fixture carry out opening/closing motion.
4. new mechanical arm according to claim 3, it is characterised in that first fixture and the second fixture are symmetrically set
Put, and " U " type groove that some mirror images are set be provided with relative medial surface, to clamp during product product is caught in it is described
In " U " type groove.
5. new mechanical arm according to claim 4, it is characterised in that the mechanical arm base include first mechanical arm,
Second mechanical arm and the mechanical arm connecting rod for connecting first, second mechanical arm；And
The swing arm unit includes corresponding to respectively rotates the first swing arm and second being connected with first mechanical arm and second mechanical arm
Swing arm；Connected between the first described swing arm and the second swing arm provided with some swing arms to connect the first swing arm and the second swing arm
Bar；
Described swing arm driving device is arranged at first mechanical arm and the first swing arm junction, and the output shaft of the swing arm driving device is suitable to
The active bearings that driving is arranged on the inside of the first swing arm are rotated, so as to drive swing arm unit to do pumping arm action campaign.
6. new mechanical arm according to claim 5, it is characterised in that the upset component also includes flip-arm；It is described
Upset driver is arranged at the second swing arm and flip-arm junction, and the output shaft of the upset driver is arranged at upset suitable for driving
Active bearings on the inside of arm are rotated, so as to drive upset component to spin upside down motion.
7. new mechanical arm according to claim 6, it is characterised in that the upset component also includes flip-arm and setting
In the trip shaft on flip-arm；
Described upset driver is arranged at second mechanical arm and the second swing arm junction, the output shaft transmission of the upset driver
It is connected with a driver blade；And
Be provided with a drive link between the trip shaft and driver blade, be suitable for by it is described upset driver driving drive link and then
Flip-arm is driven to spin upside down motion.
8. the new mechanical arm according to claim 6 or 7, it is characterised in that the master control borad is single-chip microcomputer, the master control
The driving switch of drive device is additionally provided with plate；And
The drive device uses servomotor.
9. new mechanical arm according to claim 1, it is characterised in that the bottom of the supporting leg of the base is provided with band
The pulley of lockable mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720268371.7U CN206598299U (en) | 2017-03-20 | 2017-03-20 | A kind of new mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720268371.7U CN206598299U (en) | 2017-03-20 | 2017-03-20 | A kind of new mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206598299U true CN206598299U (en) | 2017-10-31 |
Family
ID=60145246
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720268371.7U Expired - Fee Related CN206598299U (en) | 2017-03-20 | 2017-03-20 | A kind of new mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206598299U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111187887A (en) * | 2019-12-17 | 2020-05-22 | 凯斯炉业科技江苏有限公司 | Quenching and carrying manipulator for workpieces in quenching tank |
-
2017
- 2017-03-20 CN CN201720268371.7U patent/CN206598299U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111187887A (en) * | 2019-12-17 | 2020-05-22 | 凯斯炉业科技江苏有限公司 | Quenching and carrying manipulator for workpieces in quenching tank |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171031 Termination date: 20190320 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |