CN208305079U - A kind of mechanical arm assembly and manipulator - Google Patents
A kind of mechanical arm assembly and manipulator Download PDFInfo
- Publication number
- CN208305079U CN208305079U CN201820616343.4U CN201820616343U CN208305079U CN 208305079 U CN208305079 U CN 208305079U CN 201820616343 U CN201820616343 U CN 201820616343U CN 208305079 U CN208305079 U CN 208305079U
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- clamping jaw
- support arm
- mechanical arm
- seat
- grip block
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Abstract
The utility model discloses a kind of mechanical arm assembly and manipulator, including mounting base, relatively-movable first clamping jaw and the second clamping jaw are provided in mounting base, first clamping jaw and the second clamping jaw can be synchronized to be rotated along with the perpendicular direction of the moving direction of the first clamping jaw and the second clamping jaw, rotating device is provided on first clamping jaw, rotating device can adjust the first clamping jaw and the second clamping jaw and angle size in level side's is 0 °~180 °, by the way that the first clamping jaw and the second clamping jaw are set as to rotate along the vertical direction of the first clamping jaw and the moving direction of the second clamping jaw, direction locating for can selecting the first clamping jaw and the second clamping jaw according to real work, it realizes vertical, piece-holder in horizontal direction or other directions, utilize the whole size for reducing manipulator, so that the applicability of manipulator is stronger, convenient for being arranged in small space.
Description
Technical field
The utility model relates to manipulator technical field more particularly to a kind of mechanical arm assembly and use the machinery of the component
Hand.
Background technique
Truss manipulator be it is a kind of establish in right angle X, Y on the basis of Z system of 3 axes, carries out station adjustment to workpiece, or
The full-automatic equipment for realizing the functions such as the track movement of workpiece, controls manipulator by industrial control unit (ICU) and completes X, Y, Z
Union Movement between three axis is usually used on large-sized processing equipment with realizing a whole set of entire roboticized work process.However, existing
Popular industrial machine people, special manipulator or truss manipulator applying to the small place of the working spaces such as liquid treatment plant,
It has the following problems:
1, popular industrial machine people load is big, precision is high, movement is programmable, but it is expensive, transport path more
Using uneconomical in simple situation.
2, traditional truss manipulator weight weight, occupied space is big, machining accuracy and processing efficiency is low.
3, the truss manipulator minimized can only adapt to the handling work of some fixed-direction, and versatility is not strong.
Utility model content
One purpose of the utility model is: a kind of mechanical arm assembly and manipulator be provided, spatial volume occupy it is small,
Work that can respectively on vertically and horizontally.
For this purpose, the utility model uses following technical scheme:
On the one hand, a kind of mechanical arm assembly, including mounting base are provided, relatively-movable is provided in the mounting base
One clamping jaw and the second clamping jaw, first clamping jaw and second clamping jaw can be synchronized to be pressed from both sides along with first clamping jaw and described second
The perpendicular direction of the moving direction of pawl rotates, and rotating device is provided on first clamping jaw, and the rotating device is adjustable
First clamping jaw and second clamping jaw and level side's angle size are 0 °~180 °.
As a preferred technical solution of the utility model, first clamping jaw includes the first clamping jaw seat, first
Arm, second support arm and the first grip block, the first clamping jaw seat are slidably connected with the mounting base, the first support arm and described
One end of second support arm and the first clamping jaw seat are hinged, and the other end and first grip block are hinged, and first clamping
Plate is in horizontality always.
As a preferred technical solution of the utility model, the first support arm is parallel with the second support arm to be set
It sets, and the first support arm is consistent with the length of the second support arm, the first support arm and the second support arm and described the
The hinge joint of one clamping jaw seat is in same level.
As a preferred technical solution of the utility model, the first support arm and the second support arm are along described the
The moving direction of one clamping jaw is arranged in a staggered manner.
As a preferred technical solution of the utility model, second clamping jaw includes the second clamping jaw seat, third branch
Arm, the 4th support arm and the second grip block, the second clamping jaw seat are slidably connected with the mounting base, the third support arm and described
One end of 4th support arm and the second clamping jaw seat are hinged, and the other end and second grip block are hinged, and second clamping
Plate is in horizontality always.
As a preferred technical solution of the utility model, the third support arm is parallel with the 4th support arm to be set
It sets, and the third support arm is consistent with the length of the 4th support arm, the third support arm and the 4th support arm and described the
The hinge joint of two clamping jaw seats is in same level.
As a preferred technical solution of the utility model, the third support arm and the 4th support arm are along described the
The moving direction of two clamping jaws is arranged in a staggered manner.
As a preferred technical solution of the utility model, the rotating device includes programmable motor, it is described can
The shaft of programmed motor and the first support arm are sequentially connected with the hinged articulated shaft of the first clamping jaw seat.
As a preferred technical solution of the utility model, the second clamping jaw is connected by transmission shaft and the articulated shaft
It connects, is rotated synchronously with realizing with first clamping jaw.
On the other hand, a kind of manipulator is provided, including can the mobile platform of tri- axis of X, Y, Z, on the platform setting just like
The upper mechanical arm assembly.
The utility model has the following beneficial effects: by the way that set the first clamping jaw and the second clamping jaw to can be along the first clamping jaw and
The vertical direction of the moving direction of two clamping jaws rotates, can the side according to locating for real work the first clamping jaw of selection and the second clamping jaw
To piece-holder of the realization in vertical, horizontal direction or other directions, using the whole size for reducing manipulator, so that machine
The applicability of tool hand is stronger, convenient for being arranged in small space.
Detailed description of the invention
The utility model is described in further detail below according to drawings and examples.
Fig. 1 is the schematic perspective view of mechanical arm assembly described in embodiment.
Fig. 2 is another status architecture schematic diagram of mechanical arm assembly described in embodiment.
Fig. 3 is the rearview of mechanical arm assembly described in embodiment.
Fig. 4 is the left view of mechanical arm assembly described in embodiment.
In figure:
1, mounting base；2, the first clamping jaw；21, the first clamping jaw seat；22, first support arm；23, second support arm；24, the first clamping
Plate；3, the second clamping jaw；31, the second clamping jaw seat；32, third support arm；33, the 4th support arm；34, the second grip block；4, rotating device；
41, transmission shaft；5, driving device.
Specific embodiment
The technical issues of to solve the utility model, the technical solution of use and the technical effect that reaches are clearer,
It is described in further detail below in conjunction with technical solution of the attached drawing to the utility model embodiment, it is clear that described reality
Applying example is only the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention,
It is practical new to belong to this for those skilled in the art's every other embodiment obtained without creative efforts
The range of type protection.
In the description of the present invention, unless otherwise clearly defined and limited, term " connected ", " connection ", " Gu
It is fixed " it shall be understood in a broad sense, for example, it may be being fixedly connected, it may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.For the ordinary skill in the art, it can be managed with concrete condition
Solve the concrete meaning of above-mentioned term in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature the "upper" of second feature or it
"lower" may include that the first and second features directly contact, and also may include that the first and second features are not direct contacts but lead to
Cross the other characterisation contact between them.Moreover, fisrt feature includes above the second feature " above ", " above " and " above "
One feature is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.First is special
Sign is directly below and diagonally below the second feature including fisrt feature under the second feature " below ", " below " and " below ", or only
Indicate that first feature horizontal height is less than second feature.
As shown in figures 1-4, in this present embodiment, a kind of mechanical arm assembly of the utility model, including mounting base 1, installation
Relatively-movable first clamping jaw 2 and the second clamping jaw 3 are provided on seat 1, and the first clamping jaw 2 and the second clamping jaw 3 can be synchronized along with the
The perpendicular direction of the moving direction of one clamping jaw 2 and the second clamping jaw 3 rotates, and is provided with rotating device 4 on the first clamping jaw 2, rotates
It is 0 °~180 ° that device 4, which can adjust the first clamping jaw 2 and the second clamping jaw 3 with level side's angle size,.
By the way that set the first clamping jaw 2 and the second clamping jaw 3 to can be along the moving direction of the first clamping jaw 2 and the second clamping jaw 3
Vertical direction rotation, the first clamping jaw 2 and the second clamping jaw 3 can be selected according to real work locating for direction, realize vertical, horizontal
Piece-holder on direction or other directions, using the whole size for reducing manipulator, so that the applicability of manipulator is stronger, just
It is arranged in small space.
In the utility model embodiment, the first clamping jaw 2 includes the first clamping jaw seat 21, first support arm 22, second support arm 23
With the first grip block 24, the first clamping jaw seat 21 is slidably connected with mounting base 1, one end of first support arm 22 and second support arm 23 and the
One clamping jaw seat 21 is hinged, and the other end and the first grip block 24 are hinged, and the first grip block 24 is in horizontality always.
Wherein, first support arm 22 is arranged in parallel with second support arm 23, and the length one of first support arm 22 and second support arm 23
The hinge joint of cause, first support arm 22 and second support arm 23 and the first clamping jaw seat 21 is in same level, the first clamping jaw seat 21,
The line parallelogram structure of first support arm 22, second support arm 23 and the first grip block 24, so that its first grip block 24
It can guarantee in horizontality always during the entire process of the rotation of the first clamping jaw 2.
In the utility model embodiment, the second clamping jaw 3 includes the second clamping jaw seat 31, third support arm 32, the 4th support arm 33
With the second grip block 34, the second clamping jaw seat 31 is slidably connected with mounting base 1, one end of third support arm 32 and the 4th support arm 33 and the
Two clamping jaw seats 31 are hinged, and the other end and the second grip block 34 are hinged, and the second grip block 34 is in horizontality always.
Wherein, third support arm 32 is arranged in parallel with the 4th support arm 33, and the length one of third support arm 32 and the 4th support arm 33
The hinge joint of cause, third support arm 32 and the 4th support arm 33 and the second clamping jaw seat 31 is in same level, the second clamping jaw seat 31,
The line parallelogram structure of third support arm 32, the 4th support arm 33 and the second grip block 34, so that its second grip block 34
It can guarantee in horizontality always during the entire process of the rotation of the second clamping jaw 3.
By setting parallelogram structure for the support arm and grip block of the first clamping jaw 2 and the second clamping jaw 3, so that
Grip block is able to maintain and horizontal direction parallel always during clamping culture plate, can avoid the first grip block 24 and culture plate it
Between mutually stagger caused by not clamping problem, and avoid tilting in culture plate clamping process.
Preferably, moving direction of the first support arm 22 with second support arm 23 along the first clamping jaw 2 is arranged in a staggered manner, third support arm 32
Moving direction with the 4th support arm 33 along the second clamping jaw 3 is arranged in a staggered manner.
First support arm 22 and second support arm 23 are arranged in a staggered manner, third support arm 32 and the 4th support arm 33 are arranged in a staggered manner and can be kept away
Exempt from the first clamping jaw 2 and first support arm 22 and second support arm 23 or third support arm 32 and the occurs during the motion in the second clamping jaw 3
The problem of four support arms 33 collide occurs.
In the utility model embodiment, guide assembly, the first clamping jaw seat 21 and the second clamping jaw seat are provided in mounting base 1
The slide block assembly to match with guide assembly is correspondingly provided on 31, the first clamping jaw seat 21 and the second clamping jaw seat 31 can be done on guide rail
It moves back and forth, to realize the opening and closing of manipulator, and then realizes the crawl to culture plate.
Further, the side of clamping jaw is provided with the first clamping jaw seat 21 of driving and the second clamping jaw seat 31 in mounting base 1
The driving device 5 to move reciprocatingly on guide rail, driving device 5, which can be selected, can be achieved the first clamping jaw seat 21 of control and the second clamping jaw
Two-way cylinder, two-way cylinder or the motor etc. of 31 relative motions of seat.
In the utility model embodiment, rotating device 4 includes programmable motor, the shaft of programmable motor and first
Arm 22 and the hinged articulated shaft of the first clamping jaw seat 21 are sequentially connected.
Further, the second clamping jaw 3 is rotated synchronously with realizing with the first clamping jaw 2 by transmission shaft 41 and hinged axis connection.
Specifically, the hinge of shaft and first support arm 22 that the third support arm 32 of the second clamping jaw 3 is connect with the second clamping jaw seat 31
Spindle is attached by transmission shaft 41, so that shaft can be rotated synchronously with the rotation of articulated shaft.
By the way that programmable motor drive and the articulated shaft in first support arm 22 are arranged on the first clamping jaw seat 21, and then can band
Dynamic first clamping jaw 2 is rotated, and since the second clamping jaw 3 is by the hinged axis connection on transmission shaft 41 and the first clamping jaw 2, so that
Second clamping jaw 3 can be rotated synchronously with the first clamping jaw 2, can be realized by controlling the rotation of programmable motor to the first clamping jaw 2 and the
The control of the rotational angle of two clamping jaws 3, to adapt to accurate clamping of the manipulator to culture plate under different clamping environment.
In the utility model embodiment, also provide a kind of manipulator comprising can the mobile platform of tri- axis of X, Y, Z, put down
Mechanical arm assembly as described above is provided on platform.
In the description of this article, it is to be understood that the orientation or positional relationships such as term " on " are based on the figure
Orientation or positional relationship is merely for convenience of description and simplification operation, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.
In the description of this specification, the description of reference term " embodiment " etc. means the specific spy in conjunction with the embodiment
Sign, structure, material or feature are contained at least one embodiment or example of the utility model.In the present specification, right
The schematic representation of above-mentioned term is not necessarily referring to identical embodiment.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this narrating mode of specification be only be to understand device, those skilled in the art should
It considers the specification as a whole, the technical solutions in the embodiments can also be appropriately combined, and forming those skilled in the art can
With the other embodiments of understanding.
Technical principle of the utility model has been described above with reference to specific embodiments.These descriptions are intended merely to explain this reality
With novel principle, and it cannot be construed to the limitation to scope of protection of the utility model in any way.Based on the explanation herein,
Those skilled in the art, which does not need to pay for creative labor, can associate with other specific implementation modes of this utility model,
These modes are fallen within the protection scope of the utility model.
Claims (10)
1. a kind of mechanical arm assembly, which is characterized in that including mounting base, relatively-movable first is provided in the mounting base
Clamping jaw and the second clamping jaw, first clamping jaw and second clamping jaw can synchronize edge and first clamping jaw and second clamping jaw
The perpendicular direction rotation of moving direction, be provided with rotating device on first clamping jaw, the rotating device can adjust institute
It states the first clamping jaw and second clamping jaw and angle size in level side's is 0 °~180 °.
2. mechanical arm assembly according to claim 1, which is characterized in that first clamping jaw includes the first clamping jaw seat, the
One support arm, second support arm and the first grip block, the first clamping jaw seat are slidably connected with the mounting base, the first support arm and
One end of the second support arm and the first clamping jaw seat are hinged, and the other end and first grip block are hinged, and described first
Grip block is in horizontality always.
3. mechanical arm assembly according to claim 2, which is characterized in that the first support arm is parallel with the second support arm
Setting, and the first support arm is consistent with the length of the second support arm, the first support arm and the second support arm with it is described
The hinge joint of first clamping jaw seat is in same level.
4. mechanical arm assembly according to claim 3, which is characterized in that the first support arm and the second support arm are along institute
The moving direction for stating the first clamping jaw is arranged in a staggered manner.
5. mechanical arm assembly according to claim 1, which is characterized in that second clamping jaw includes the second clamping jaw seat, the
Three support arms, the 4th support arm and the second grip block, the second clamping jaw seat are slidably connected with the mounting base, the third support arm and
One end of 4th support arm and the second clamping jaw seat are hinged, and the other end and second grip block are hinged, and described second
Grip block is in horizontality always.
6. mechanical arm assembly according to claim 5, which is characterized in that the third support arm is parallel with the 4th support arm
Setting, and the third support arm is consistent with the length of the 4th support arm, the third support arm and the 4th support arm with it is described
The hinge joint of second clamping jaw seat is in same level.
7. mechanical arm assembly according to claim 6, which is characterized in that the third support arm and the 4th support arm are along institute
The moving direction for stating the second clamping jaw is arranged in a staggered manner.
8. mechanical arm assembly according to claim 2, which is characterized in that the rotating device includes programmable motor, institute
The shaft and the first support arm for stating programmable motor are sequentially connected with the hinged articulated shaft of the first clamping jaw seat.
9. mechanical arm assembly according to claim 8, which is characterized in that the second clamping jaw passes through transmission shaft and the articulated shaft
Connection is rotated synchronously with realizing with first clamping jaw.
10. a kind of manipulator, which is characterized in that including can the mobile platform of tri- axis of X, Y, Z, be arranged just like right on the platform
It is required that the described in any item mechanical arm assemblies of 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820616343.4U CN208305079U (en) | 2018-04-26 | 2018-04-26 | A kind of mechanical arm assembly and manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820616343.4U CN208305079U (en) | 2018-04-26 | 2018-04-26 | A kind of mechanical arm assembly and manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208305079U true CN208305079U (en) | 2019-01-01 |
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ID=64712987
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820616343.4U Active CN208305079U (en) | 2018-04-26 | 2018-04-26 | A kind of mechanical arm assembly and manipulator |
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| CN (1) | CN208305079U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108372514A (en) * | 2018-04-26 | 2018-08-07 | 广州高盛智造科技有限公司 | A kind of mechanical arm assembly and manipulator |
-
2018
- 2018-04-26 CN CN201820616343.4U patent/CN208305079U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108372514A (en) * | 2018-04-26 | 2018-08-07 | 广州高盛智造科技有限公司 | A kind of mechanical arm assembly and manipulator |
| CN108372514B (en) * | 2018-04-26 | 2024-01-30 | 广州高盛智造科技有限公司 | Manipulator assembly and manipulator |
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