CN208117834U - Engage industry mechanical arm - Google Patents

Abstract

The utility model belongs to symmetrical structure manipulator field, it is related to a kind of engagement industry mechanical arm, including controlling matrix, control matrix is connected and fixed connecting plate one by mechanical slide arm, connecting plate one is fixedly connected with three by connecting plate two and grabs cylinder top surface, three three piston rods for grabbing cylinder bottom surface are separately connected gripper one by three link blocks, gripper two and gripper three, gripper one, gripper two and gripper three include horizontal shoulder beam and the arm beam set on horizontal shoulder beam one end bottom surface, gripper one, the arm beam bottom portion middle position of gripper two and gripper three is equipped with a upper detent and refers to, upper detent refers to that lower section is equipped with a lower detent and refers to, upper detent refers to and lower detent refer between formed detent slot；The arm beam two sides of the bottom of gripper three are respectively provided with a positioning card and refer to.The structure design of the utility model is reasonable, can precisely complete the assembly installation of axial symmetry and centrosymmetric device, work efficiency is high, and yields is high, and reduces cost of labor and enterprise's production cost.

Description

Engage industry mechanical arm

Technical field

The utility model relates to a kind of engagement industry mechanical arms, belong to symmetrical structure manipulator field.

Background technique

Currently, axial symmetry and centrosymmetric device majority are small in size, structure is complicated, and common manipulator is difficult on the market Essence is grabbed and is placed, and causes the product yield of production low, and cause the waste of raw material serious in production process, Production cost, therefore the product through meeting criterion of acceptability frequently with manual operation production are increased, but manual operation work is imitated Rate is low, high labor cost, is not suitable with the demand of modernization fast pipeline operation.

Utility model content

The purpose of this utility model is that proposing a kind of engagement industry mechanical arm, which can precisely be grabbed The assembly of axial symmetry or centrosymmetric device is taken to install, work efficiency is high, and yields is high, and reduces cost of labor and enterprise Production cost.

Engagement industry mechanical arm described in the utility model, including control matrix, control matrix pass through mechanical slide arm connection Fixed connecting plate one, connecting plate one are fixedly connected with three by connecting plate two and grab cylinder top surface, and three grab three pistons of cylinder bottom surface Bar is separately connected gripper one, gripper two and gripper three by three link blocks, and gripper one, gripper two and gripper three include level Shoulder beam and arm beam set on horizontal shoulder beam one end bottom surface, the arm beam bottom portion middle position of gripper one, gripper two and gripper three A upper detent is equipped with to refer to, upper detent refers to that lower section is equipped with a lower detent and refers to, upper detent refers to and lower detent refer between form card Position slot；The arm beam two sides of the bottom of gripper three are respectively provided with a positioning card and refer to, positioning card, which refers to, to be referred to upper detent positioned at same level Face.

Three grab cylinder by control unit control action.In the course of work, three grabs cylinder when reaching and grabbing position and pass through piston Three bar control gripper one, gripper two and gripper three-dimensional directions are individually separated, then in feed location gripper one, gripper two and folder It grabs San Tong method to gather to middle position, raw material is stuck at detent slot, completes the crawl to raw material；When reaching raw material placement location, Three grab cylinder control gripper one, three directions of gripper two and gripper three-dimensional are individually separated, and raw material stays in corresponding placement location.

Preferably, the horizontal shoulder beam upper surface of the gripper one and gripper two is equipped with and is respectively provided with a concave guide groove one, The horizontal shoulder beam upper surface of gripper three is equipped with concave guide groove two, and the extending direction of guide groove one and guide groove two is set from horizontal shoulder beam There is the other end of the one end of arm beam to horizontal shoulder beam, the one end of guide groove one and guide groove two far from arm beam is open equipped with long strip type Adjustment hole, bolt pass through long strip type opening adjustment hole and are connected and fixed with link block.The installation position of gripper one, gripper two and gripper three It sets the adjustment hole that can be open by long strip type to be adjusted, to be suitble to the different size of demand of raw material；And guide groove one and guide groove The direction of motion that three pistons that the extending direction of two direction and long strip type opening adjustment hole grabs cylinder with three are done matches, and leads The end face of slot one and horizontal shoulder beam is in 60 ° of angles, and guide groove two is vertical with the end face of horizontal shoulder beam.

Preferably, the control matrix includes main panel, and the upper surface of main panel is fixed with N-shaped panel, N-shaped panel Upper surface is equipped with N-shaped sliding slot, is equipped with the sliding block one for cooperating sliding with it in N-shaped sliding slot, main panel upper surface N-shaped below the panel Middle position connects swing arm one end, and by connection axis connection motor, swing arm other end is equipped with long strip through hole for this end swing arm, and strip is logical The extending direction in hole is identical as pendulum arm length extending direction, and sliding block one slides in long strip through hole；Sliding block one is fixedly connected with machinery Slide arm top, mechanical slide arm lower part are placed in the groove of connecting plate one, and mechanical slide arm slides up and down in groove, connecting plate one with Sliding block two is fixedly connected, and sliding block two cooperates sliding along the line slide rail being arranged below surface n type panel on the home panel and swing arm； One bottom end of connecting plate is connected and fixed three by connecting plate two and grabs cylinder, and connecting plate two is located at main panel periphery.

In the course of work, motor work drives connecting shaft rotation, and connecting shaft rotation drives swing arm to swing, swing arm swing process Middle band movable slider one acts, and sliding block one is simultaneously along long strip through hole and N-shaped runner movement under the drive of swing arm, and sliding block one is along N-shaped Sliding slot completes a symmetric motion centered on connecting shaft, and the movement of sliding block one drives the mechanical slide arm fortune being firmly connected with it Dynamic, mechanical slide arm is on the one hand interior in the groove of connecting plate one to be slided up and down, and on the other hand drives connecting plate one and two edge of sliding block Line slide rail movement, while the drive of connecting plate one three is grabbed cylinder and is moved, gripper one, gripper two and gripper three exist as required The position set is grabbed and is placed to raw material, and the assembly work of axial symmetry and centrosymmetric device is accurately completed, Work efficiency is high, and yields is high.

Preferably, the N-shaped panel includes two pieces of identical inverted L shape panels, and two pieces of inverted L shape panels pass through interarea respectively The screw being arranged at the adjusting slotted hole of back is fixedly connected with main panel, and two pieces of inverted L shape panel upper surfaces are respectively equipped with inverted L The horizontal connection sliding slot of type sliding slot, inverted L shape sliding slot and the setting of main panel upper surface collectively constitutes N-shaped sliding slot, screw can be twisted Then pine makes two pieces of inverted L shape panels move the length of the horizontal connection sliding slot so as to adjust display along adjusting slotted hole, realizes and adjust The upper horizontal slot length of section N-shaped sliding slot can be adjusted according to actual needs then by screw-driving.

Preferably, the main panel upper surface N-shaped sliding slot bottom end two sides have additional a photoelectric induction device, sliding block One upper surface both ends extends and respectively adds a nut one in end, and photoelectric induction device connects control unit, and control unit connects Connect motor.When slide block movement is to the bottom end of N-shaped sliding slot, photoelectric induction device senses nut one, then photoelectric induction device Transmit a signal to control unit, control unit control motor stops working, motor when preventing slide block movement to N-shaped sliding slot bottom end It works on and causes motor damage.

Preferably, a spring washer, one bottom position of nut are added in the main panel upper surface N-shaped sliding slot bottom end two sides It is corresponding with spring washer position.Spring washer works as a buffer, and nut a pair of line slide rail is avoided to cause to damage.

Preferably, fixed plate is added in the main panel lower surface, and fixed plate is surrounded by mounting hole, facilitate main panel with It is connected and fixed with other devices.

Possessed beneficial effect is the utility model compared with prior art：

The structure design of the utility model is reasonable, N-shaped sliding slot be it is symmetrical with the line at connecting shaft and N-shaped sliding slot midpoint, Sliding block one slides the symmetric motion that can complete left and right, while setting using gripper one, gripper two and gripper three in N-shaped sliding slot It sets, can precisely complete the assembly installation of crawl axial symmetry and centrosymmetric device, yields is high, and Automatic manual transmission works On the one hand high-efficient, cost of labor is on the other hand greatly saved, the performance of enterprises is improved.

Detailed description of the invention

Fig. 1, engagement industry mechanical arm structural schematic diagram (main view)；

Fig. 2, engagement industry mechanical arm structural schematic diagram (left view)；

Fig. 3, engagement industry mechanical arm structural schematic diagram (top view)；

Fig. 4, engagement industry mechanical arm structural schematic diagram (rearview)；

Fig. 5, three seized condition figure of gripper one, gripper two and gripper；

Fig. 6, one structural schematic diagram of gripper；

Fig. 7, three structural schematic diagram of gripper.

In figure：1, main panel；2, N-shaped sliding slot；3, swing arm；4, long strip through hole；5, motor；6, sliding block one；7, N-shaped panel； 8, nut one；9, mounting hole；10, fixed plate；11, gripper three；12, photoelectric induction device；13, spring washer；14, connecting plate two；15, Three grab cylinder；16, link block；17, gripper one；18, connecting plate one；19, sliding block two；20, mechanical slide arm；21, line slide rail； 22, horizontal connection sliding slot；23, slotted hole is adjusted；24, gripper two；25, long strip type opening adjustment hole；26, horizontal shoulder beam；27, it leads Slot one；28, arm beam；29, upper detent refers to；30, lower detent refers to；31, detent slot；32, positioning card refers to；33, guide groove two.

Specific embodiment

The utility model is described further with reference to the accompanying drawing：

Such as Fig. 1-Fig. 7, engagement industry mechanical arm described in the utility model, including control matrix, control matrix pass through machine Tool slide arm 20 is connected and fixed connecting plate 1, and connecting plate 1 is fixedly connected with three by connecting plate 2 14 and grabs 15 top surface of cylinder, and three Three piston rods for grabbing 15 bottom surface of cylinder are separately connected gripper 1, gripper 2 24 and gripper 3 11 by three link blocks 16, Gripper 1, gripper 2 24 and gripper 3 11 include horizontal shoulder beam 26 and the arm beam set on horizontal 26 one end bottom surface of shoulder beam 28, the 28 bottom middle position of arm beam of gripper 1, gripper 2 24 and gripper 3 11 is equipped with a upper detent and refers to 29, upper card Position refers to that 29 lower sections are equipped with a lower detent and refer to 30, upper detent refer to 29 and lower detent refer to formation detent slot 31 between 30；Gripper 3 11 28 two sides of the bottom of arm beam be respectively provided with a positioning card and refer to 32, positioning card refers to that 32 refer to that 29 are located at same level with upper detent.

In the present embodiment：

Horizontal 26 upper surface of shoulder beam of gripper 1 and gripper 2 24 is equipped with and is respectively provided with a concave guide groove 1, gripper three 11 horizontal 26 upper surface of shoulder beam is equipped with concave guide groove 2 33, and the extending direction of guide groove 1 and guide groove 2 33 is from horizontal shoulder Beam 26 is equipped with one end of arm beam 28 to the other end of horizontal shoulder beam 26, and guide groove 1 and guide groove 2 33 are far from arm beam 28 One end is equipped with long strip type opening adjustment hole 25, and bolt passes through long strip type opening adjustment hole 25 and is connected and fixed with link block 16.Gripper One 17, the installation site of gripper 2 24 and gripper 3 11 can be adjusted by long strip type opening adjustment hole 25, to be suitble to original Expect different size of demand；And the extending direction of the direction of guide groove 1 and guide groove 2 33 and long strip type opening adjustment hole 25 with Three directions of motion for grabbing three piston rods of cylinder 15 match, and the end face of guide groove 1 and horizontal shoulder beam 26 is in 60 ° of angles, lead Slot 2 33 is vertical with the end face of horizontal shoulder beam 26.

Controlling matrix includes main panel 1, and the upper surface of main panel 1 is fixed with N-shaped panel 7, and the upper surface of N-shaped panel 7 is set There is a N-shaped sliding slot 2, be equipped with the sliding block 1 for cooperating sliding with it in N-shaped sliding slot 2, in 1 upper surface N-shaped panel of main panel, 7 lower section Between position connect 3 one end of swing arm, by connection axis connection motor 5,3 other end of swing arm is equipped with long strip through hole 4, long for this end swing arm 3 The extending direction of through-hole 4 is identical as 3 length extending direction of swing arm, and sliding block 1 slides in long strip through hole 4；Sliding block 1 is fixed Connect mechanical 20 top of slide arm, mechanical 20 lower part of slide arm is placed in the groove of connecting plate 1, mechanical slide arm 20 in groove on Lower slider, connecting plate 1 are fixedly connected with sliding block 2 19, and sliding block 2 19 is along setting in 1 upper surface N-shaped panel 7 of main panel and pendulum The line slide rail 21 of 3 lower section of arm cooperates sliding；One 18 bottom end of connecting plate is connected and fixed three by connecting plate 2 14 and grabs cylinder 15, even Fishplate bar 2 14 is located at 1 periphery of main panel.

N-shaped panel 7 includes two pieces of identical inverted L shape panels, and two pieces of inverted L shape panels pass through the tune at 1 back side of main panel respectively The screw being arranged at section slotted hole 23 is fixedly connected with main panel 1, and it is sliding that two pieces of inverted L shape panel upper surfaces are respectively equipped with inverted L shape The horizontal connection sliding slot 22 of slot, inverted L shape sliding slot and the setting of 1 upper surface of main panel collectively constitutes N-shaped sliding slot 2, screw can be twisted Then pine makes two pieces of inverted L shape panels move the length of the horizontal connection sliding slot 22 so as to adjust display along adjusting slotted hole 23, real The upper horizontal slot length for now adjusting N-shaped sliding slot 2 can be adjusted according to actual needs then by screw-driving.

1 upper surface N-shaped sliding slot of main panel, 2 bottom end two sides have additional a photoelectric induction device 12, one 6 upper surface of sliding block Both ends extend and respectively add a nut 1 in end, and photoelectric induction device 12 connects control unit, and control unit connects motor 5.When slide block movement is to the bottom end of N-shaped sliding slot 2, photoelectric induction device 12 senses nut 1, then photoelectric induction device 12 Control unit is transmitted a signal to, control unit control motor 5 stops working, and anti-limited slip block 1 moves to 2 bottom end of N-shaped sliding slot When motor 5 work on cause motor 5 damage.

A spring washer 13, one 8 bottom position of nut and spring washer are added in 1 upper surface N-shaped sliding slot of main panel, 2 bottom end two sides 13 positions are corresponding.Spring washer 13 works as a buffer, and one 8 pairs of line slide rails 21 of nut is avoided to cause to damage.

Fixed plate 10 is added in 1 lower surface of main panel, and fixed plate 10 is surrounded by mounting hole 9, facilitates main panel 1 and other dresses It sets and is connected and fixed.

In the course of work, the work of motor 5 drives connecting shaft rotation, and connecting shaft rotation drives swing arm 3 to swing, and swing arm 3 is swung Band movable slider 1 acts in the process, and sliding block 1 is moved along long strip through hole 4 and N-shaped sliding slot 2 simultaneously under the drive of swing arm 3, sliding Block 1 completes a symmetric motion centered on connecting shaft along N-shaped sliding slot 2, and the movement drive of sliding block 1 is firmly connected with it Mechanical slide arm 20 moves, and mechanical 20 one side of slide arm is interior in the groove of connecting plate 1 to be slided up and down, on the other hand the company of drive Fishplate bar 1 and sliding block 2 19 are moved along line slide rail 21, while the drive of connecting plate 1 three is grabbed cylinder 15 and moved, gripper One 17, gripper 2 24 and gripper 3 11 are grabbed and are placed to raw material in the position set as required, are accurately completed The assembly work of axial symmetry and centrosymmetric device, work efficiency is high, and yields is high.When slide block movement to the bottom of N-shaped sliding slot 2 When end, photoelectric induction device 12 senses that nut 1 or one 8 bottom end of nut touch and is equipped in spring washer 13 and spring washer 13 Pressure sensor, photoelectric induction device 12 or pressure sensor can transmit a signal to control unit, control unit control Motor 5 stops working, and prevents motor 5 from damaging.Three grab cylinder 15 by control unit control action.In the course of work, when arrival is grabbed Three grab cylinder 15 and control gripper 1, gripper 2 24 and gripper 3 11 by piston rod and are individually separated to three directions when fetch bit, Then gather simultaneously to middle position in feed location gripper 1, gripper 2 24 and gripper 3 11, raw material is stuck in detent slot 31 Place completes the crawl to raw material；When reaching raw material placement location, three, which grab cylinder 15, controls gripper 1, gripper 2 24 and gripper 3 11 are individually separated to three directions, and raw material stays in corresponding placement location.

Claims (7)

1. a kind of engagement industry mechanical arm, it is characterised in that：Including controlling matrix, control matrix passes through mechanical slide arm (20) and connects Fixed connecting plate one (18), connecting plate one (18) are fixedly connected with three by connecting plate two (14) and grab cylinder (15) top surface, and three grab gas Three piston rods of cylinder (15) bottom surface are separately connected gripper one (17), gripper two (24) and gripper three by three link blocks (16) (11), gripper one (17), gripper two (24) and gripper three (11) including horizontal shoulder beam (26) and are set to horizontal shoulder beam (26) one Hold the arm beam (28) of bottom surface, arm beam (28) bottom middle position of gripper one (17), gripper two (24) and gripper three (11) A upper detent is equipped with to refer to (29), upper detent refers to that a lower detent is equipped with below (29) to be referred to (30), upper detent refer to (29) and under Detent refers to formation detent slot (31) between (30)；Arm beam (28) two sides of the bottom of gripper three (11) are respectively provided with a positioning card and refer to (32), positioning card refers to that (32) and upper detent refer to that (29) are located at same level.

2. engagement industry mechanical arm according to claim 1, it is characterised in that：The water of gripper one (17) and gripper two (24) Flat shoulder beam (26) upper surface is equipped with and is respectively provided with a concave guide groove one (27), and horizontal shoulder beam (26) upper surface of gripper three (11) is set There is a concave guide groove two (33), the extending direction of guide groove one (27) and guide groove two (33) is to be equipped with arm beam from horizontal shoulder beam (26) (28) to the other end of horizontal shoulder beam (26), guide groove one (27) and guide groove two (33) are set far from the one end of arm beam (28) for one end There is long strip type to be open adjustment hole (25), bolt passes through long strip type opening adjustment hole (25) and is connected and fixed with link block (16).

3. engagement industry mechanical arm according to claim 1 or 2, it is characterised in that：Controlling matrix includes main panel (1), The upper surface of main panel (1) is fixed with N-shaped panel (7), and the upper surface of N-shaped panel (7) is equipped with N-shaped sliding slot (2), N-shaped sliding slot (2) Interior to be equipped with the sliding block one (6) for cooperating sliding with it, the middle position below main panel (1) upper surface N-shaped panel (7) connects swing arm (3) one end, this end swing arm (3) are equipped with long strip through hole (4) by connection axis connection motor (5), swing arm (3) other end, and strip is logical The extending direction in hole (4) is identical as swing arm (3) length extending direction, sliding block one (6) sliding in long strip through hole (4)；Sliding block one (6) it is fixedly connected with mechanical slide arm (20) top, mechanical slide arm (20) lower part is placed in the groove of connecting plate one (18), mechanical slide arm (20) it is slided up and down in groove, connecting plate one (18) is fixedly connected with sliding block two (19), and sliding block two (19) is along setting in interarea Line slide rail (21) below plate (1) upper surface N-shaped panel (7) and swing arm (3) cooperates sliding；Connecting plate one (18) bottom end passes through Connecting plate two (14) is connected and fixed three and grabs cylinder (15).

4. engagement industry mechanical arm according to claim 3, it is characterised in that：N-shaped panel (7) include two pieces it is identical fall L-type panel, two pieces of inverted L shape panels pass through the screw and interarea being arranged at the adjusting slotted hole (23) at main panel (1) back side respectively Plate (1) is fixedly connected, and two pieces of inverted L shape panel upper surfaces are respectively equipped with inverted L shape sliding slot, inverted L shape sliding slot and main panel (1) upper surface The horizontal connection sliding slot (22) of setting collectively constitutes N-shaped sliding slot (2).

5. engagement industry mechanical arm according to claim 3, it is characterised in that：Main panel (1) upper surface N-shaped sliding slot (2) Bottom end two sides have additional a photoelectric induction device (12), and sliding block one (6) upper surface both ends extend and respectively add one in end A nut one (8), photoelectric induction device (12) connect control unit, and control unit connects motor (5).

6. engagement industry mechanical arm according to claim 5, it is characterised in that：Main panel (1) upper surface N-shaped sliding slot (2) A spring washer (13) is added in bottom end two sides, and nut one (8) bottom position is corresponding with spring washer (13) position.

7. engagement industry mechanical arm according to claim 3, it is characterised in that：Fixed plate is added in main panel (1) lower surface (10), fixed plate (10) is surrounded by mounting hole (9).