CN209579554U - A kind of translation mechanical arm - Google Patents
A kind of translation mechanical arm Download PDFInfo
- Publication number
- CN209579554U CN209579554U CN201920341609.3U CN201920341609U CN209579554U CN 209579554 U CN209579554 U CN 209579554U CN 201920341609 U CN201920341609 U CN 201920341609U CN 209579554 U CN209579554 U CN 209579554U
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- CN
- China
- Prior art keywords
- rocker arm
- cantilever
- cylinder
- fixedly connected
- mechanical arm
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Abstract
The utility model discloses a kind of translation mechanical arms, including horizontal equipment platform, vertical electronic rotation workbench is fixedly installed on the equipment platform, Rotary cloumn is fixedly connected at the top of the rotary shaft of the electronic rotation workbench, cantilever is fixedly connected at the top of the column, the end of the cantilever is provided with articulation piece；It further include horizontal rocker arm, one end of the rocker arm and the end of the cantilever are articulated and connected by the articulation piece, and the other end of the rocker arm is equipped with actuator；It further include rocker arm driving device, the rocker arm driving device can drive the rocker arm to rotate along the articulation piece；The utility model uses deforming triangle structure, realizes the radius of gyration for changing mechanical arm.
Description
Technical field
The utility model belongs to mechanical arm field.
Background technique
Rotary machine arm is common mechanical arm, and the actuator of existing rotary machine arm often can only be in fixed revolution
It works in radius.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, it is variable that the utility model provides a kind of radius of gyration
A kind of translation mechanical arm.
Technical solution: to achieve the above object, a kind of translation mechanical arm of the utility model is flat including horizontal equipment
Platform is fixedly installed with vertical electronic rotation workbench, the rotary shaft top of the electronic rotation workbench on the equipment platform
Portion is fixedly connected with Rotary cloumn, and cantilever is fixedly connected at the top of the column, and the end of the cantilever is provided with articulation piece；
It further include horizontal rocker arm, one end of the rocker arm and the end of the cantilever are articulated and connected by the articulation piece, described to shake
The other end of arm is equipped with actuator；It further include rocker arm driving device, the rocker arm driving device can drive the rocker arm along institute
State articulation piece rotation.
Further, the rocker arm driving device includes revolving platform and linear motor；The linear motor is horizontally arranged at
On the revolving platform, the revolving platform is installed on the upside of the cantilever, and the end of the line handspike of the linear motor is fixed to be connected
It is connected to extension bar, is fixedly connected with cylinder on the downside of the end of the extension bar；Vertically communicated column is additionally provided on the rocker arm
Body passes through hole, and the concentric activity downwards of the lower end of the cylinder passes through the cylinder and passes through hole, and the lower end of the cylinder is concentric
It is fixedly connected with pallet, the upper surface of the pallet contacts the lower surface of the rocker arm；Also concentric be socketed with is opened on the cylinder
Relaxation power spring, the relaxation power spring add between the extension bar and the rocker arm.
Further, the cantilever is a, and the rocker arm is b, the combination of the extension bar, line handspike and linear motor
Structure is c；Described a, b, c constitute triangular structure.
Further, the actuator includes vertically arranged lifting cylinder, the cylinder push-rod bottom end of the lifting cylinder
It is connected with industrial sucker or manipulator.
Further, structure cant beam is additionally provided between the column and the cantilever.
The utility model has the advantages that the utility model uses deforming triangle structure, the radius of gyration for changing mechanical arm is realized；It improves
Its versatility, and its triangular structure also has the feature of stability；Relaxation power spring is always between extension bar and rocker arm
Always there is an elastic pre-stress, cooperation a, b, c constitute triangular structure, and then can effectively weaken rocker arm during the work time
Shaking phenomenon.
Detailed description of the invention
Attached drawing 1 is the utility model overall top view；Attached drawing 2 is the overall structure figure of the utility model；Attached drawing 3 is straight line
Partial structural diagram at motor；Attached drawing 4 is the partial structural diagram of extension bar end.
Specific embodiment
The utility model is further described with reference to the accompanying drawing.
A kind of translation mechanical arm as shown in attached drawing 1 to 4, including horizontal equipment platform 19, on the equipment platform 19
It is fixedly installed with vertical electronic rotation workbench 6, is fixedly connected with rotation at the top of the rotary shaft 18 of the electronic rotation workbench 6
Turn column 9, the top of the column 9 is fixedly connected with cantilever 11, and in order to increase its structural stability, the embodiment of the present invention is vertical
Structure cant beam 8 is additionally provided between column 9 and the cantilever 11；The end of the cantilever 11 of the present embodiment is provided with articulation piece 12；Also
Including horizontal Rocker arm 4, the end of one end of the Rocker arm 4 and the cantilever 11 is articulated and connected by the articulation piece 12, institute
The other end for stating Rocker arm 4 is equipped with actuator 03；It further include rocker arm driving device, the rocker arm driving device can drive described shake
Arm 4 is rotated along the articulation piece 12；The rotary shaft 18 for changing actuator 03 and electronic rotation workbench 6 is realized in the rotation of Rocker arm 4
The distance between, and then realize the revolution working radius for changing actuator 03；The rocker arm driving device of the present embodiment includes revolution
Platform 17 and linear motor 10；The linear motor 10 is horizontally arranged on the revolving platform 17, the linear motor 10 of the present embodiment
It can be rotated freely along 17 axis of revolving platform, the revolving platform 17 is installed on 11 upside of cantilever, the linear motor 10
The end of line handspike 5 is fixedly connected with extension bar 7, is fixedly connected with cylinder 13 on the downside of the end of the extension bar 7；It is described to shake
Vertically communicated cylinder is additionally provided on arm 4 across hole 14, concentric activity passes through the column downwards for the lower end of the cylinder 13
Body passes through hole 14, and the lower end of the cylinder 13 is concentric to be fixedly connected with pallet 16, shakes described in the upper surface contact of the pallet 16
The lower surface of arm 4；The cantilever 11 of the present embodiment is a, and the Rocker arm 4 is b, the extension bar 7, line handspike 5 and linear motor
10 composite structure is c；Described a, b, c constitute triangular structure；A, b, the c, which constitute triangular structure, not only has stable structure
Property feature, and may be implemented change actuator 03 revolution working radius；Such as it needs for actuator 03 to be first displaced now
At A into attached drawing 1, then it is moved at B；It can first drive linear motor 10 that line handspike 5 is made to do the movement shortened, make to hold
Row device 03 reach the place A the radius of gyration at, then control electronic rotation workbench 6 rotary shaft 18 rotate, and then drive
Make actuator 03 along the rotation to A of rotary shaft 18, and then actuator 03 reaches at A；Then driving linear motor 10 pushes away straight line
Bar 5 does the movement extended, make actuator 03 reach the place B the radius of gyration at, then control electronic rotation workbench 6
Rotary shaft 18 rotates, and then driving makes actuator 03 along the rotation to B of rotary shaft 18, and then realizes that actuator 03 reaches at B.
Also concentric on the cylinder 13 of the present embodiment to be socketed with relaxation power spring 15, the relaxation power spring 15, which adds, is located at institute
It states between extension bar 7 and the Rocker arm 4；Since Rocker arm 4 is connect with cantilever 11 by articulation piece 12, connection type is still pine
Dynamic state, thus slight rolling trend phenomenon still may be generated in the actuator course of work, exist in this weak vibrations
Be also not allow in the case of high-accuracy job requirement, the relaxation power spring 15 of the present embodiment always to extension bar 7 and Rocker arm 4 it
Between have an elastic pre-stress always, cooperation a, b, c constitute triangular structure, and then can effectively weaken Rocker arm 4 worked
Shaking phenomenon in journey.
The actuator 03 of the present embodiment includes vertically arranged lifting cylinder 3,2 bottom of cylinder push-rod of the lifting cylinder 3
End is connected with industrial sucker 1 or manipulator, which can also be other component, for example, electromagnet sucker, spraying device,
The execution units such as clamping device；The above is only the preferred embodiment of the utility model, it should be pointed out that: this technology is led
For the those of ordinary skill in domain, various improvements and modifications may be made without departing from the principle of the present invention, these
Improvements and modifications also should be regarded as the protection scope of the utility model.
Claims (5)
1. a kind of translation mechanical arm, it is characterised in that: fixed on the equipment platform (19) including horizontal equipment platform (19)
Vertical electronic rotation workbench (6) is installed, is fixedly connected at the top of the rotary shaft (18) of the electronic rotation workbench (6)
Rotary cloumn (9) is fixedly connected with cantilever (11) at the top of the column (9), and the end of the cantilever (11) is provided with hingedly
Part (12)；It further include horizontal rocker arm (4), one end of the rocker arm (4) passes through described hinged with the end of the cantilever (11)
Part (12) articulated connection, the other end of the rocker arm (4) are equipped with actuator (03)；It further include rocker arm driving device, it is described to shake
Arm driving device can drive the rocker arm (4) to rotate along the articulation piece (12).
2. a kind of translation mechanical arm according to claim 1, it is characterised in that: the rocker arm driving device includes revolving platform
(17) and linear motor (10)；The linear motor (10) is horizontally arranged on the revolving platform (17), the revolving platform (17)
It is installed on the upside of the cantilever (11), the end of the line handspike (5) of the linear motor (10) is fixedly connected with extension bar
(7), cylinder (13) are fixedly connected on the downside of the end of the extension bar (7)；It is additionally provided on the rocker arm (4) vertically communicated
Cylinder passes through hole (14), and the concentric activity downwards of the lower end of the cylinder (13) passes through the cylinder and passes through hole (14), the column
The lower end of body (13) is concentric to be fixedly connected pallet (16), and the upper surface of the pallet (16) contacts the following table of the rocker arm (4)
Face；Also concentric on the cylinder (13) to be socketed with relaxation power spring (15), the relaxation power spring (15), which adds, is located at described add
Between stock (7) and the rocker arm (4).
3. a kind of translation mechanical arm according to claim 2, it is characterised in that: the cantilever (11) is a, the rocker arm
It (4) is b, the composite structure of the extension bar (7), line handspike (5) and linear motor (10) is c；Described a, b, c constitute triangle
Shape structure.
4. translation mechanical arm according to claim 1, it is characterised in that: the actuator (03) includes vertically arranged liter
Cylinder push-rod (2) bottom end of sending down abnormally ascending cylinder (3), the lifting cylinder (3) is connected with industrial sucker (1) or manipulator.
5. translation mechanical arm according to claim 1, it is characterised in that: between the column (9) and the cantilever (11)
It is additionally provided with structure cant beam (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920341609.3U CN209579554U (en) | 2019-03-18 | 2019-03-18 | A kind of translation mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920341609.3U CN209579554U (en) | 2019-03-18 | 2019-03-18 | A kind of translation mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209579554U true CN209579554U (en) | 2019-11-05 |
Family
ID=68374478
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920341609.3U Expired - Fee Related CN209579554U (en) | 2019-03-18 | 2019-03-18 | A kind of translation mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209579554U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112197704A (en) * | 2020-10-12 | 2021-01-08 | 宋志龙 | Double-sided optical detection system and detection method for circular ring PCB |
-
2019
- 2019-03-18 CN CN201920341609.3U patent/CN209579554U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112197704A (en) * | 2020-10-12 | 2021-01-08 | 宋志龙 | Double-sided optical detection system and detection method for circular ring PCB |
| CN112197704B (en) * | 2020-10-12 | 2022-03-25 | 广州锋明信息科技有限公司 | Double-sided optical detection system and detection method for circular ring PCB |
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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: 20191105 Termination date: 20200318 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |