CN206840066U - A kind of automatic manipulator of freely adjustable both arms angle - Google Patents
A kind of automatic manipulator of freely adjustable both arms angle Download PDFInfo
- Publication number
- CN206840066U CN206840066U CN201720461145.0U CN201720461145U CN206840066U CN 206840066 U CN206840066 U CN 206840066U CN 201720461145 U CN201720461145 U CN 201720461145U CN 206840066 U CN206840066 U CN 206840066U
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- CN
- China
- Prior art keywords
- mechanical arm
- toothed disc
- bearing
- central shaft
- fixedly connected
- 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.)
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Abstract
The utility model discloses a kind of automatic manipulator of freely adjustable both arms angle, including first mechanical arm, central shaft and second mechanical arm, the bottom of the central shaft is flexibly connected with rotating disc, and central shaft is fixedly connected with the inner ring of two bearings, the first mechanical arm and second mechanical arm are fixedly connected by connecting plate with the outer shroud of bearing, and the end of first mechanical arm and second mechanical arm is mounted on claw, toothed disc A is installed on central shaft between the bearing and bearing, and it is rotatablely connected between toothed disc A and toothed disc B by gear teeth meshing, mounting hole among the toothed disc B is fixedly connected with the rotating shaft of motor, and two motor are separately fixed in first mechanical arm and second mechanical arm, rolling element is provided between the inner ring and outer shroud of the bearing, and retainer is installed on rolling element.The utility model is connected by the engagement rotation of two toothed discs so that can freely adjust the angle between two mechanical arms.
Description
Technical field
Mechanical equipment technical field is the utility model is related to, specially a kind of automation of freely adjustable both arms angle
Hand.
Background technology
Nowadays the manipulator for the both arms swing loading and unloading for being used to produce and process is once between two mechanical arms after installing
Angle be to determine, i.e., the angle between two mechanical arms will be determined before production is installed, the installation fitting of mechanical arm will
Processed according to the angle of determination, the position of two mechanical arms determines that after completion of processing assembling, the angle between two mechanical arms
Degree also determines, then can not arbitrarily change.But in the production process of reality, it is often necessary to the both arms machine of different angle
Tool hand carries out cooperating, in order to meet the needs of production, can only just be carried out by other manipulators, cause enterprise to need to be equipped with
More robotic devices, directly result in the raising of production cost, and such mechanical arm can not meet the requirement nowadays used.
Utility model content
The purpose of this utility model is to provide a kind of automatic manipulator of freely adjustable both arms angle, above-mentioned to solve
The problem of being proposed in background technology, possessed beneficial effect are：Connected by the engagement rotation of two toothed discs so that can be certainly
By regulation two mechanical arms between angle, the rotation that the present apparatus directly drives toothed disc by motor realizes two
The regulation of angle, easy to operate between mechanical arm, improves operating efficiency, and reduces the working strength of worker.
To achieve the above object, the utility model provides following technical scheme：A kind of freely adjustable both arms angle from
Dynamic manipulator, including first mechanical arm, central shaft and second mechanical arm, the bottom of the central shaft are flexibly connected with rotating disc,
And central shaft is fixedly connected with the inner ring of two bearings, the first mechanical arm and second mechanical arm pass through connecting plate and bearing
Outer shroud is fixedly connected, and the end of first mechanical arm and second mechanical arm is mounted on claw, between the bearing and bearing
Toothed disc A is installed on central shaft, and is rotatablely connected between toothed disc A and toothed disc B by gear teeth meshing, the toothed disc B
Middle mounting hole is fixedly connected with the rotating shaft of motor, and two motor are separately fixed at first mechanical arm and the second machinery
In arm, rolling element is provided between the inner ring and outer shroud of the bearing, and retainer is installed on rolling element.
Preferably, the shell of the rotating disc bottom is fixedly connected with bottom plate, and the edge of bottom plate is provided with mounting hole.
Preferably, the cross sectional shape of the central shaft, rotating disc and bottom plate is circle.
Preferably, the upper and lower ends of the first mechanical arm and second mechanical arm are welded and fixed with connecting plate is connected.
Preferably, the diameter of the toothed disc A is more than toothed disc B diameter.
Compared with prior art, the beneficial effects of the utility model are：The engagement rotation that the equipment passes through two toothed discs
Connection so that can freely adjust the angle between two mechanical arms, the present apparatus directly drives turning for toothed disc by motor
Move and then realize the regulation of angle between two mechanical arms, it is easy to operate, operating efficiency is improved, and reduce the work of worker
Intensity, connecting plate is both provided with the upper and lower ends of mechanical arm, can sufficiently ensure the reliability of connection, ensure the safety of device
Use, the bottom of central shaft is provided with rotating disc, the rotation of 360 deg can be achieved so that device has wide work model
To enclose, function admirable, the present apparatus is reasonable in design, and angle between can adjusting mechanical arm is installed again without manually dismantling,
It is adapted to promote the use of.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the partial structural diagram that the utility model toothed disc A engages with toothed disc B；
Fig. 3 is the partial structural diagram inside the utility model second mechanical arm；
Fig. 4 is the structural representation of the utility model bearing.
In figure：1- first mechanical arms；2- connecting plates；3- central shafts；4- toothed discs A；5- bearings；6- second mechanical arms；7-
Claw；8- mounting holes；9- rotating discs；10- bottom plates；The 11- gear teeth；12- toothed discs B；13- motor；14- outer shrouds；15- is kept
Frame；16- inner ring；17- rolling elements.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belong to the scope of the utility model protection.
Refer to Fig. 1-4, a kind of embodiment provided by the utility model：A kind of automatic machine of freely adjustable both arms angle
Tool hand, including first mechanical arm 1, central shaft 3 and second mechanical arm 6, the bottom of central shaft 3 are flexibly connected with rotating disc 9, and in
Mandrel 3 is fixedly connected with the inner ring 16 of two bearings 5, and first mechanical arm 1 and second mechanical arm 6 pass through connecting plate 2 and bearing 5
Outer shroud 14 is fixedly connected, and the end of first mechanical arm 1 and second mechanical arm 6 is mounted on claw 7, between bearing 5 and bearing 5
Central shaft 3 on toothed disc A4 is installed, and pass through the engagement rotation of the gear teeth 11 between toothed disc A4 and toothed disc B12 and connect, tooth
Mounting hole 8 among wheel disc B12 is fixedly connected with the rotating shaft of motor 13, and two motor 13 are separately fixed at the first machinery
In arm 1 and second mechanical arm 6, rolling element 17 is provided between the inner ring 16 and outer shroud 14 of bearing 5, and be provided with rolling element 17
Retainer 15, the shell of the bottom of rotating disc 9 is fixedly connected with bottom plate 10, and the edge of bottom plate 10 is provided with mounting hole 8, center
The cross sectional shape of axle 3, rotating disc 9 and bottom plate 10 is circular, and the upper and lower ends of first mechanical arm 1 and second mechanical arm 6 are with connecting
Fishplate bar 2 is welded and fixed connection, and toothed disc A4 diameter is more than toothed disc B12 diameter.
Operation principle：The clamping of claw 7 during use in first mechanical arm 1 and second mechanical arm 6 needs mobile article, together
When central shaft 3 rotated with rotating disc 9 so that first mechanical arm 1 or second mechanical arm 6 move article to corresponding position
Put, when needing to adjust first mechanical arm 1 with 6 angle of second mechanical arm, can be controlled by external control panel electronic
Machine 13 works, and motor 13 starts to drive toothed disc B12 rotation, then passes through the gear teeth between toothed disc B12 and toothed disc A4
11 engagements, because toothed disc A4 is integrally fixed on central shaft 3, therefore first mechanical arm 1 or second mechanical arm 2 are in toothed disc
Start freely to rotate under B12 drive, realize the regulation of angle.
It is obvious to a person skilled in the art that the utility model is not limited to the details of above-mentioned one exemplary embodiment, and
And in the case of without departing substantially from spirit or essential attributes of the present utility model, it can realize that this practicality is new in other specific forms
Type.Therefore, no matter from the point of view of which point, embodiment all should be regarded as exemplary, and is nonrestrictive, this practicality is new
The scope of type limits by appended claims rather than described above, it is intended that the equivalency fallen in claim is contained
All changes in justice and scope are included in the utility model.Any reference in claim should not be considered as limitation
Involved claim.
Claims (5)
1. a kind of automatic manipulator of freely adjustable both arms angle, including first mechanical arm (1), central shaft (3) and the second machine
Tool arm (6), it is characterised in that：The bottom of the central shaft (3) is flexibly connected with rotating disc (9), and central shaft (3) and two axles
The inner ring (16) for holding (5) is fixedly connected, and the first mechanical arm (1) and second mechanical arm (6) pass through connecting plate (2) and bearing
(5) outer shroud (14) is fixedly connected, and the end of first mechanical arm (1) and second mechanical arm (6) is mounted on claw (7), institute
State and toothed disc A (4) is installed on the central shaft (3) between bearing (5) and bearing (5), and toothed disc A (4) and toothed disc B (12)
Between pass through the gear teeth (11) engagement rotation and connect, the rotating shaft of the mounting hole (8) among the toothed disc B (12) and motor (13)
It is fixedly connected, and two motor (13) are separately fixed in first mechanical arm (1) and second mechanical arm (6), the bearing (5)
Inner ring (16) and outer shroud (14) between be provided with rolling element (17), and retainer (15) is installed on rolling element (17).
A kind of 2. automatic manipulator of freely adjustable both arms angle according to claim 1, it is characterised in that：Described turn
The shell of Moving plate (9) bottom is fixedly connected with bottom plate (10), and the edge of bottom plate (10) is provided with mounting hole (8).
A kind of 3. automatic manipulator of freely adjustable both arms angle according to claim 1, it is characterised in that：In described
The cross sectional shape of mandrel (3), rotating disc (9) and bottom plate (10) is circle.
A kind of 4. automatic manipulator of freely adjustable both arms angle according to claim 1, it is characterised in that：Described
The upper and lower ends of one mechanical arm (1) and second mechanical arm (6) are welded and fixed with connecting plate (2) and are connected.
A kind of 5. automatic manipulator of freely adjustable both arms angle according to claim 1, it is characterised in that：The tooth
Wheel disc A (4) diameter is more than toothed disc B (12) diameter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720461145.0U CN206840066U (en) | 2017-04-19 | 2017-04-19 | A kind of automatic manipulator of freely adjustable both arms angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720461145.0U CN206840066U (en) | 2017-04-19 | 2017-04-19 | A kind of automatic manipulator of freely adjustable both arms angle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206840066U true CN206840066U (en) | 2018-01-05 |
Family
ID=60794486
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720461145.0U Expired - Fee Related CN206840066U (en) | 2017-04-19 | 2017-04-19 | A kind of automatic manipulator of freely adjustable both arms angle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206840066U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108582044A (en) * | 2018-05-23 | 2018-09-28 | 北京华信智航科技有限公司 | A kind of 8 degree of freedom integrated machine arms based on both hands pawl |
| CN110695960A (en) * | 2019-08-28 | 2020-01-17 | 北京点域科技有限公司 | Mechanical grabbing device for industrial robot |
-
2017
- 2017-04-19 CN CN201720461145.0U patent/CN206840066U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108582044A (en) * | 2018-05-23 | 2018-09-28 | 北京华信智航科技有限公司 | A kind of 8 degree of freedom integrated machine arms based on both hands pawl |
| CN108582044B (en) * | 2018-05-23 | 2024-04-23 | 北京华信智航科技有限公司 | 8-Degree-of-freedom integrated mechanical arm based on double paws |
| CN110695960A (en) * | 2019-08-28 | 2020-01-17 | 北京点域科技有限公司 | Mechanical grabbing device for industrial robot |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180105 Termination date: 20210419 |