CN210682933U - Permanent magnet hoisting device for mechanical arm and permanent magnet hoisting mechanical arm - Google Patents
Permanent magnet hoisting device for mechanical arm and permanent magnet hoisting mechanical arm Download PDFInfo
- Publication number
- CN210682933U CN210682933U CN201921485100.2U CN201921485100U CN210682933U CN 210682933 U CN210682933 U CN 210682933U CN 201921485100 U CN201921485100 U CN 201921485100U CN 210682933 U CN210682933 U CN 210682933U
- Authority
- CN
- China
- Prior art keywords
- permanent magnet
- magnetism
- mechanical arm
- lifting device
- button
- 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.)
- Active
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 89
- 230000005389 magnetism Effects 0.000 claims abstract description 55
- 230000005347 demagnetization Effects 0.000 claims description 31
- 229910000831 Steel Inorganic materials 0.000 claims description 17
- 239000010959 steel Substances 0.000 claims description 17
- 230000002441 reversible effect Effects 0.000 claims description 15
- 238000009434 installation Methods 0.000 abstract description 27
- 238000005452 bending Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 8
- 230000006698 induction Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000004880 explosion Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000009776 industrial production Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 210000003437 trachea Anatomy 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000005553 drilling Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a permanent magnetism hoisting apparatus and permanent magnetism hoisting machinery arm for arm belongs to arm attachment technical field. The utility model discloses a permanent magnetism hoisting apparatus for arm, including permanent magnetism hoisting mechanism, permanent magnetism control mechanism and installation pole, installation pole and permanent magnetism hoisting mechanism link to each other through the steering unit, and the steering unit includes connecting rod and at least 2 revolute joint, and the rotation axis of each revolute joint is different face straight line or intersect each other, links to each other through the connecting rod between each revolute joint; the permanent magnet control mechanism is connected with the permanent magnet hoisting mechanism and is used for controlling the permanent magnet hoisting mechanism to obtain magnetism or demagnetize. The utility model installs the permanent magnetic crane at the free end of the mechanical arm through the installation rod, and the steering unit is at least provided with 2 rotary joints, so that the permanent magnetic hoisting mechanism can move more flexibly relative to the free end of the mechanical arm; in addition, the permanent magnet control mechanism is arranged on the device, so that the convenience of controlling the permanent magnet hoisting mechanism is improved.
Description
Technical Field
The utility model relates to a mechanical arm annex technical field, more specifically say, relate to a permanent magnetism hoisting apparatus for arm.
Background
With the continuous development of mechanical and automatic technologies, the mechanical arm technology has become more mature and is widely applied in various fields of industrial production. Various tools are often assembled at the free end of the mechanical arm, so that the automatic production of modern industry is realized; in addition, the assistance is often carried out by means of a mechanical arm in the existing industrial production, so that the labor intensity of workers is reduced, and the manual work efficiency is improved. The boosting type mechanical arm generally has a relatively large working range, and flexible movement in all directions in space is often difficult to realize in the free end operation process of the mechanical arm.
"robotic arm" as disclosed in application No. CN2013208783250, comprising a rear arm, a rotary joint, a front arm and a balance member; one end of the rear arm is hinged with the mounting surface, and the other end of the rear arm is hinged with the rotary joint; one end of the forearm is hinged with the rotary joint, and a first braking device is arranged at the hinged position; the rotating shaft of the rear arm rotating relative to the rotating joint is vertical to the rotating shaft of the front arm rotating relative to the rotating joint; one end of the balance component is connected with the mounting surface, and the other end of the balance component is hinged to the middle part of the rear arm; the manipulator is arranged at the other end of the front arm and is used for clamping various workpieces through the machine.
The multifunctional mechanical arm drilling machine comprises a machine case, a bottom plate is fixedly connected to the bottom of the machine case, the top of the bottom plate is fixedly connected with a machine frame through a mounting table, a telescopic rod is fixedly connected to the top of the machine frame, one end, away from the machine frame, of the telescopic rod is rotatably connected with a telescopic arm through a second pin shaft, one end of the telescopic arm is fixedly connected with an auxiliary block, one end, away from the auxiliary block, of the telescopic arm is fixedly connected with a rotary working box, one side of the inner cavity of the rotary working box is provided with a first motor, an output shaft of the first motor is fixedly connected with a first gear, the first gear is in meshing connection with a second gear, the second gear is fixedly connected with a telescopic device through a connecting shaft, one side of the outer wall of the telescopic device is fixedly connected with a switching block, the bottom of the switching block is fixedly connected with a fixing, one end of the connecting block, which is far away from the second hydraulic cylinder, is fixedly connected with a drilling machine.
The electric automobile battery replacement mechanical arm disclosed in the application number CN2018103619721 comprises an upright post, wherein a connecting block is arranged on one side of the upright post, and a connecting block vertical translation control mechanism for controlling the connecting block to translate in the vertical direction is arranged between the connecting block and the upright post; a horizontal rotating arm is arranged on one side of the connecting block in the horizontal direction, one end of the rotating arm is rotatably connected to the connecting block and forms a rotating center, and the rotating arm can horizontally rotate around the rotating center; the battery taking and placing mechanism is arranged below one end, deviating from the connecting block, of the rotating arm and comprises a plurality of suction ports, and suction cups are arranged downwards.
In the use process of the mechanical arm, the used tool is generally directly fixed on the front arm of the mechanical arm, the tool can only move along the free end of the mechanical arm, but the tool cannot rotate freely relative to the fixed point of the mechanical arm. Thus, the flexibility of use of the tool is lacking.
While in current industrial production, permanent magnet jacks often perform an advantageous function during the transportation of some metals, some small permanent magnet jacks are inconvenient to control, and especially the arrangement of permanent magnet jacks on power-assisted equipment such as a mechanical arm further limits the flexibility of use.
SUMMERY OF THE UTILITY MODEL
1. Technical problem to be solved by the utility model
An object of the utility model is to attach the inconvenient problem of permanent magnetism hoisting apparatus operation on the arm among the prior art, provide a permanent magnetism hoisting apparatus for arm, the device makes permanent magnetism hoisting apparatus can set up on the arm in a flexible way through the unit that turns to that is provided with 2 revolute joint at least to permanent magnetism control mechanism has improved the use convenience of permanent magnetism hoisting apparatus structure, makes the operation more convenient.
2. Technical scheme
In order to achieve the above purpose, the utility model provides a technical scheme does:
the utility model discloses a permanent magnetism hoisting apparatus for arm, including permanent magnetism hoisting mechanism, permanent magnetism control mechanism and be used for installing the installation pole on the arm, installation pole and permanent magnetism hoisting mechanism link to each other through turning to the unit, turn to the unit and include swivel joint and connecting rod, swivel joint is provided with 2 at least, and the rotation axis of each swivel joint is different face straight line or crossing each other, links to each other through the connecting rod between each swivel joint; the permanent magnet control mechanism is connected with the permanent magnet hoisting mechanism and is used for controlling the permanent magnet hoisting mechanism to obtain magnetism or demagnetize.
Preferably, the steering unit comprises a first connecting rod, a first rotating joint and a second rotating joint, one end of the first connecting rod is rotatably connected with one end of the mounting rod through the first rotating joint, and the other end of the first connecting rod is rotatably connected with the permanent magnet lifting mechanism through the second rotating joint.
Preferably, the rotation axes of the rotary joints are perpendicular to each other or are perpendicular to each other.
Preferably, the installation rod is provided with a bent portion, and the horizontal portion of the installation rod and the vertical portion of the installation rod are connected through the bent portion.
Preferably, the connecting rod is provided with a bent portion through which the horizontal portion of the connecting rod and the vertical portion of the connecting rod are connected.
Preferably, the permanent magnet lifting mechanism comprises a permanent magnet jack and a steering gear, the steering gear is connected with the reversible magnetic steel of the permanent magnet jack, and the steering gear is used for driving the reversible magnetic steel to rotate.
Preferably, the permanent magnet control mechanism is connected with the steering gear, and the permanent magnet control mechanism is used for controlling the steering gear to steer.
Preferably, the steering gear is a rotary cylinder, the permanent magnet control mechanism comprises an air source air inlet, a magnetism obtaining button and a demagnetization button, one end of the air source air inlet is connected with a compressed air source, the other end of the air source air inlet is connected with the magnetism obtaining button and the demagnetization button respectively, the magnetism obtaining button and the demagnetization button are connected to the magnetism obtaining air inlet and the demagnetization air inlet of the rotary cylinder respectively through the magnetism obtaining pipe and the demagnetization pipe, and the magnetism obtaining button and the demagnetization button are used for controlling the rotation direction of the rotary cylinder.
Preferably, a handle is arranged on the connecting rod and/or the permanent magnet lifting mechanism, and the permanent magnet control mechanism is arranged at one end of the handle.
Preferably, at least 2 handles are arranged, and the axes of the handles are perpendicular to each other or perpendicular to each other.
3. Advantageous effects
Adopt the technical scheme provided by the utility model, compare with existing well-known technique, have following apparent effect:
(1) the utility model discloses a permanent magnetism hoisting apparatus for arm, including permanent magnetism hoisting mechanism, permanent magnetism control mechanism and installation pole, installation pole and permanent magnetism hoisting mechanism link to each other through the steering unit, the steering unit includes rotary joint and connecting rod, rotary joint is provided with 2 at least, and the rotation axis of each rotary joint is different plane straight line or crossing each other, links to each other through the connecting rod between each rotary joint; the permanent magnet control mechanism is connected with the permanent magnet hoisting mechanism and is used for controlling the permanent magnet hoisting mechanism to obtain magnetism or demagnetize; the device is arranged at the free end of the mechanical arm through an installation rod, the permanent magnet hoisting mechanism is arranged on the mechanical arm through a steering unit, and the steering unit is at least provided with 2 rotating joints, so that the permanent magnet hoisting mechanism can move more flexibly relative to the free end of the mechanical arm; in addition, the permanent magnet control mechanism is arranged on the device, so that the convenience of controlling the permanent magnet hoisting mechanism is improved.
(2) The utility model discloses a permanent magnetism hoisting apparatus for mechanical arm, the installation pole is provided with a bending part, the installation pole horizontal part of the installation pole and the installation pole vertical part of the installation pole are connected through the bending part; the connecting rod is provided with a bending part, and the horizontal part of the connecting rod is connected with the vertical part of the connecting rod through the bending part; through the setting of the portion of bending on installation pole and the connecting rod, interference between certain angle steering in-process and each member piece during can avoiding the operation to can strengthen the full angle cover face and make the operation more convenient, the rotatory pine that takes place of member piece takes place when avoiding the quick change to turn to takes place to take off simultaneously.
(3) The utility model discloses a permanent magnetism hoisting apparatus for arm, steering gear are revolving cylinder, and permanent magnetism control mechanism includes the air supply air inlet, gets magnetism button and demagnetization button, get magnetism button and demagnetization button and pass through the air supply air inlet and link to each other with compressed air source, get magnetism button, demagnetization button through getting magnetism trachea and demagnetization trachea and be connected to revolving cylinder respectively get magnetism air inlet and demagnetization air inlet, get magnetism button, demagnetization button are used for controlling revolving cylinder's direction of rotation, and permanent magnetism control mechanism controls revolving cylinder, and not only control is convenient, and control stability is higher moreover.
Drawings
Fig. 1 is a schematic view of the overall structure of a permanent magnet lifting device for a mechanical arm according to the present invention;
fig. 2 is a top view of the permanent magnet lifting device for a robot arm according to the present invention;
FIG. 3 is a cross-sectional view taken along line A-A of FIG. 2;
fig. 4 is an explosion schematic view of a permanent magnet control mechanism in the permanent magnet lifting device for the mechanical arm of the present invention;
fig. 5 is an explosion schematic view of a permanent magnet hoisting mechanism in the permanent magnet hoisting device for a mechanical arm according to the present invention;
FIG. 6 is a pneumatic schematic diagram of permanent magnet lifting control;
fig. 7 is a schematic view of the connection between the permanent magnet control mechanism and the permanent magnet hoisting mechanism in the permanent magnet hoisting device for the mechanical arm according to the present invention;
fig. 8 is an explosion structure diagram of a first rotary joint in the permanent magnet lifting device for a mechanical arm of the present invention;
fig. 9 is a sectional view of a first rotary joint in the permanent magnet lifting device for a robot arm according to the present invention;
fig. 10 is an explosion structure diagram of a second rotary joint in the permanent magnet lifting device for a mechanical arm according to the present invention;
fig. 11 is a cross-sectional view of a second rotary joint in a permanent magnet lifting device for a robot arm according to the present invention.
The reference numerals in the schematic drawings illustrate:
100. mounting a rod; 110. a mounting rod horizontal portion; 120. a mounting bar vertical portion; 121. a first card slot;
200. a steering unit; 210. a first rotary joint; 211. an upper cover; 212. a first clamp spring; 213. a first bearing; 214. a first screw; 215. a second clamp spring; 216. a lower cover; 217. a lower cover screw; 218. a groove; 219. a cavity; 201. a first limit step;
220. a first link; 221. a first link horizontal portion; 222. a first link vertical portion;
230. a second rotary joint; 231. a shaft seat; 232. an end cap; 233. a second screw; 234. a second bearing; 235. a third clamp spring; 236. a third limiting step; 237. a second limit step; 240. a second link;
310. a permanent magnet hoisting mechanism; 311. a hoisting mechanism mounting base; 312. a permanent magnet jack; 320. a permanent magnet control mechanism; 321. a demagnetization button; 322. obtaining a magnetic button; 323. an air source inlet; 325. compressing a gas source; 326. an induction check valve; 327. a housing; 331. reversible magnetic steel; 332. fixing the magnetic steel; 340. a rotating cylinder; 341. a cylinder head; 342. obtaining a magnetic air inlet; 343. A degaussing air inlet; 351. obtaining a magnetic air pipe; 352. demagnetizing the trachea;
410. a first handle; 420. a second handle.
Detailed Description
For a further understanding of the present invention, reference will be made to the following detailed description taken in conjunction with the accompanying drawings and examples.
The structure, ratio, size and the like shown in the drawings of the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by people familiar with the technology, and are not used for limiting the limit conditions which can be implemented by the present invention, so that the present invention does not have the substantial significance in the technology, and any structure modification, ratio relationship change or size adjustment should still fall within the scope which can be covered by the technical content disclosed by the present invention without affecting the efficacy which can be produced by the present invention and the achievable purpose. Meanwhile, the terms such as "upper", "lower", "left", "right", "middle", and the like, referred to in the present specification, are used for clarity of description only, and are not used to limit the implementable scope, and changes or adjustments of the relative relationship thereof are also regarded as the implementable scope of the present invention without substantial changes in the technical content; in addition, the embodiments of the present invention are not independent of each other, but can be combined.
The permanent magnet lifting device for the mechanical arm comprises a mounting rod 100 for being mounted on the mechanical arm, the mounting rod 100 can also be mounted on other instruments including but not limited to the mechanical arm and playing a similar assisting role, and in addition, the mounting rod 100 is detachably mounted on the mechanical arm.
The permanent magnet lifting device of the present embodiment is disposed at the free end of the mechanical arm, that is, the permanent magnet lifting device is disposed on the mechanical arm by the mounting rod 100 mounted at the free end of the mechanical arm, so as to form the permanent magnet lifting mechanical arm. The free end of the mechanical arm is the end of the mechanical arm used for installing a tool for operation in the using process.
As shown in fig. 1 to 3, the mounting rod 100 and the permanent magnet lifting mechanism 310 are connected by a steering unit 200, the steering unit 200 includes at least 2 rotary joints and a connecting rod, the rotary joints are connected by the connecting rod, the rotation axes of the rotary joints are different straight lines or intersect, preferably, the number of the rotary joints is 2 or 3, and the embodiment takes the case of providing 2.
In addition, the rotation axes of the rotary joints are in a straight line or intersect with each other in a different plane, and preferably, the rotation axes of the rotary joints are perpendicular to each other in a different plane or perpendicular to each other.
Taking 2 rotary joints as an example, the steering unit 200 includes a first link 220, a first rotary joint 210, and a second rotary joint 230, wherein one end of the first link 220 is rotatably connected to one end of the mounting rod 100 through the first rotary joint 210, and the other end of the first link 220 is rotatably connected to the permanent magnet lifting mechanism 310 through the second rotary joint 230. The axial directions of the rotary joints at different positions are not particularly limited, and the rotation axes of the rotary joints are straight lines with different planes or intersect with each other, preferably, the rotation axes of the rotary joints are perpendicular to each other with different planes or perpendicular to each other.
In addition, the mounting rod 100 is provided with a bent portion through which the mounting rod horizontal portion 110 of the mounting rod 100 and the mounting rod vertical portion 120 of the mounting rod 100 are connected; in this embodiment, the first connecting rod 220 is also provided with a bending portion, the first connecting rod horizontal portion 221 of the first connecting rod 220 and the first connecting rod vertical portion 222 of the first connecting rod 220 are connected through the bending portion, and through the arrangement of the bending portion on the mounting rod 100 or the first connecting rod 220, the interference between the steering process and each rod piece at a certain angle during operation can be avoided, and the full-angle coverage surface can be increased to make the operation more convenient, and meanwhile, the rod piece is prevented from rotating and loosening during the quick-change steering.
In a specific embodiment, the mounting rod 100 includes a mounting rod horizontal portion 110 and a mounting rod vertical portion 120, a first rotation joint 210 is connected to a lower end of the mounting rod vertical portion 120, and the first rotation joint 210 can rotate 360 ° around an axis of the mounting rod vertical portion 120. The first link 220 includes a first link horizontal portion 221 and a first link vertical portion 222, one end of the first link horizontal portion 221 is fixedly connected to the first rotary joint 210, a bottom end of the first link vertical portion 222 is connected to the second rotary joint 230, and a rotation axis of the second rotary joint 230 is perpendicular to an axis of the first link vertical portion 222. The second rotary joint 230 is provided with a second connecting rod 240, and the other end of the second connecting rod 240 opposite to the second rotary joint 230 is fixedly connected to the permanent magnet lifting mechanism 310.
As shown in fig. 4 to 5, the permanent magnet lifting device for a robot arm of the present embodiment further includes a permanent magnet lifting mechanism 310 and a permanent magnet control mechanism 320, wherein the permanent magnet control mechanism 320 is connected to the permanent magnet lifting mechanism 310, and the permanent magnet control mechanism 320 is used for controlling the permanent magnet lifting mechanism 310 to be magnetized or demagnetized. The permanent magnet lifting mechanism 310 includes a permanent magnet jack 312 and a steering gear, the steering gear is connected to the reversible magnetic steel 331 of the permanent magnet jack 312, and the steering gear is used for driving the reversible magnetic steel 331 to rotate. The permanent magnet control mechanism 320 is connected with the steering gear, and the permanent magnet control mechanism 320 is used for controlling the steering gear to steer.
Specifically, in this embodiment, a lifting mechanism mounting base 311 is disposed on the permanent magnet lifting mechanism 310, the lifting mechanism mounting base 311 is fixedly connected to the second link 240, a steering gear is disposed above the lifting mechanism mounting base 311, and a reversible magnetic steel 331 is connected below the steering gear. The steering gear in this embodiment is a rotary cylinder 340, a rotary head of the rotary cylinder 340 is connected to the reversible magnetic steel 331, and the steering gear may also be a servo motor or other devices capable of achieving steering of the reversible magnetic steel 331. A cylinder cover 341 is arranged above the rotary cylinder 340, a magnetism obtaining air inlet 342 and a demagnetization air inlet 343 are arranged on the rotary cylinder 340, after the magnetism obtaining air inlet 342 is ventilated, the rotary cylinder 340 is driven to rotate towards one direction, the reversible magnetic steel 331 is driven to rotate at the same time, the reversible magnetic steel 331 is attracted with the fixed magnetic steel 332, the permanent magnet jack 312 generates magnetic force, and the permanent magnet jack 310 can transport metal objects; after the degaussing air inlet 343 is ventilated, the rotary cylinder 340 is driven to rotate towards another direction, and the reversible magnetic steel 331 is driven to rotate towards another direction, at the same time, the reversible magnetic steel 331 is abutted against the magnetic force of the fixed magnetic steel 332 of the permanent magnet jack 312, so that the permanent magnet jack 312 does not generate magnetic force, namely the magnetic force disappears.
For the permanent magnet control mechanism 320, it may be mounted on a linkage or on the free end of the mechanical arm, preferably on one end of the first linkage 220. The permanent magnet control mechanism 320 comprises an air source air inlet 323, a magnetism obtaining button 322 and a demagnetization button 321, the air source air inlet 323 is connected with an external compressed air source 325, the air source air inlet 323 is respectively connected with the magnetism obtaining button 322 and the demagnetization button 321 through two air pipes, as shown in fig. 7, the magnetism obtaining button 322 and the demagnetization button 321 are respectively connected to a magnetism obtaining air inlet 342 and a demagnetization air inlet 343 of the rotary air cylinder 340 through a magnetism obtaining air pipe 351 and a demagnetization air pipe 352, and the magnetism obtaining button 322 and the demagnetization button 321 are used for controlling the rotation direction of the rotary air cylinder 340. As shown in fig. 6, the apparatus further comprises an induction check valve 326, on one hand, the gas source inlet 323 is connected with the magnetism obtaining inlet 342 sequentially through the magnetism obtaining button 322 and the induction check valve 326, on the other hand, the gas source inlet 323 is also connected with the demagnetization inlet 343 sequentially through the demagnetization button 321, and the gas path behind the demagnetization button 321 is also connected to the bypass valve of the induction check valve 326 in a shunting manner. A housing 327 is provided on the permanent magnet control mechanism 320.
When the magnetic lifting mechanism is used, the magnetic button 322 is pressed down, so that compressed gas enters the magnetic inlet 342 to drive the rotary cylinder 340 to rotate, the permanent magnetic lifting mechanism 310 is magnetized, and the gas entering the magnetic inlet 342 is maintained under the non-return effect of the induction check valve 326, so that the permanent magnetic lifting mechanism 310 is continuously kept in a magnetic state; when the demagnetization button 321 is pressed, the air path is communicated to split the air flow communicated to the bypass valve of the induction check valve 326 to release the compressed air that originally entered the magnetism-obtaining air inlet 342, and the air flow enters the demagnetization air inlet 343 of the rotary cylinder 340 to rotate the rotary cylinder 340 in the other direction, so that the permanent magnet lifting mechanism 310 is demagnetized. It should be noted that, if the steering gear is a servo motor, the permanent magnet control mechanism 320 further includes a circuit controller for controlling the forward rotation or the reverse rotation of the servo motor. Through the arrangement of the permanent magnet control mechanism 320, the convenience of a user for controlling the permanent magnet lifting mechanism 310 is improved.
In addition, a handle is arranged on the connecting rod and/or the permanent magnet hoisting mechanism 310, the handle is fixedly connected, and the permanent magnet control mechanism 320 is arranged at one end of the handle; the handle is convenient for a user to hold the permanent magnet lifting mechanism 310, and the permanent magnet control mechanism 320 is arranged at one end of the handle to be more convenient for the user to operate; preferably, at least 2 handles are arranged, and the axes of the handles are vertical to each other in a different plane or vertical to each other; so that the user can hold the permanent magnet lifting mechanism 310 in different directions and angles. In this embodiment, the handle includes a first handle 410 and a second handle 420, the first handle 410 is disposed on the permanent magnet control mechanism 320, the permanent magnet control mechanism 320 is disposed on the first link 220, and the second handle 420 is disposed on the permanent magnet lifting mechanism 310.
As shown in fig. 8 to 9, for the installation of the first rotary joint 210, the first rotary joint 210 includes an upper cover 211 and a lower cover 216, a groove 218 matching with the first link horizontal portion 221 is provided on the lower surface of the upper cover 211 and the upper surface of the lower cover 216, and the first link horizontal portion 221 is engaged in the groove 218 and locked by a lower cover screw 217. A cavity 219 is arranged in the upper cover 211, and a through hole communicated with the cavity 219 is arranged on the upper surface of the upper cover 211. The lower end of the mounting rod vertical portion 120 is inserted into a cavity 219 from the through hole, and the first snap spring 212, the first bearing 213, the second snap spring 215, and the first screw 214 are mounted in the cavity 219. The inner ring of the first bearing 213 is matched with the vertical part 120 of the installation rod, the first clamp spring 212 is clamped in the first clamping groove 121 of the vertical part 120 of the installation rod close to the lower end, the lower end of the vertical part 120 of the installation rod is inserted into the first bearing 213 and fixed by the first screw 214, and the first clamp spring 212 and the first screw 214 are matched with the inner ring of the first bearing 213, so that the vertical part 120 of the installation rod is matched and connected with the inner ring of the first bearing 213. The top surface of the outer ring of the first bearing 213 is abutted against the first limit step 201 of the inner cavity 219, and the second snap spring 215 is clamped in the second clamping groove on the side wall of the cavity 219 and abutted against the bottom surface of the outer ring of the first bearing 213, so that the outer ring of the first bearing 213 is fixedly connected with the upper cover 211.
As shown in FIGS. 10-11, for the installation of the second rotary joint 230, the second rotary joint 230 includes a shaft seat 231, a second bearing 234, a second screw 233, an end cap 232, and a third snap 235. The shaft seat 231 is provided with a first link mounting hole, and the first link vertical portion 222 of the first link 220 is mounted in the first link mounting hole and locked by a nut. The shaft seat 231 is provided with a bearing installation through hole parallel to the axis of the first connecting rod horizontal portion 221, the bearing installation through hole is provided with a second limit step 237, and the end of the second connecting rod 240 is provided with a third limit step 236. The second bearing 234 is installed in the bearing installation through hole, the left end of the outer ring of the second bearing 234 abuts against the second limit step 237, the right end of the outer ring abuts against the third snap spring 235, and the third snap spring 235 is installed in the third snap groove in the side wall of the bearing installation through hole, so that the outer ring of the second bearing 234 is fixedly connected with the shaft seat 231. The second connecting rod 240 is inserted into the second bearing 234, the third limit step 236 of the second connecting rod 240 abuts against the right end of the inner ring of the second bearing 234, the second screw 233 is connected with the second connecting rod 240, and the second screw 233 abuts against the left end of the inner ring of the second bearing, so that the inner ring of the second bearing 234 is fixedly connected with the second connecting rod 240.
The invention has been described above in detail with reference to specific exemplary embodiments. It will, however, be understood that various modifications and changes may be made without departing from the scope of the invention as defined by the appended claims. The detailed description and drawings are to be regarded as illustrative rather than restrictive, and any such modifications and variations are intended to be included within the scope of the present invention as described herein. Furthermore, the background is intended to illustrate the present state of the art and the meaning of the present development and is not intended to limit the present invention or the present application and the field of application of the present invention.
More specifically, although exemplary embodiments of the invention have been described herein, the invention is not limited to these embodiments, but includes any and all embodiments modified, omitted, such as combinations between various embodiments, adapted changes and/or substitutions as would be recognized by those skilled in the art from the foregoing detailed description. The limitations in the claims are to be interpreted broadly based the language employed in the claims and not limited to examples described in the foregoing detailed description or during the prosecution of the application, which examples are to be construed as non-exclusive. Any steps recited in any method or process claims may be executed in any order and are not limited to the order presented in the claims. The scope of the invention should, therefore, be determined only by the appended claims and their legal equivalents, rather than by the descriptions and examples given above.
Claims (10)
1. The permanent magnet hoisting device for the mechanical arm is characterized by comprising a permanent magnet hoisting mechanism (310), a permanent magnet control mechanism (320) and a mounting rod (100), wherein the mounting rod (100) is connected with the permanent magnet hoisting mechanism (310) through a steering unit (200), the steering unit (200) comprises at least 2 rotary joints and connecting rods, the rotary joints are provided with rotating axes which are different from each other and are straight or intersected, and the rotary joints are connected through the connecting rods; the permanent magnet control mechanism (320) is used for controlling the permanent magnet hoisting mechanism (310) to be magnetized or demagnetized.
2. The permanent magnet lifting device for the mechanical arm according to claim 1, wherein the steering unit (200) comprises a first connecting rod (220), a first rotating joint (210) and a second rotating joint (230), one end of the first connecting rod (220) is rotatably connected with one end of the mounting rod (100) through the first rotating joint (210), and the other end of the first connecting rod (220) is rotatably connected with the permanent magnet lifting mechanism (310) through the second rotating joint (230).
3. The permanent magnet lifting device for a robot arm according to claim 1, wherein the rotation axes of the respective rotary joints are perpendicular to each other or to each other.
4. The permanent magnet lifting device for a robot arm according to claim 1, wherein the mounting bar (100) is provided with a bent portion through which the mounting bar horizontal portion (110) of the mounting bar (100) and the mounting bar vertical portion (120) of the mounting bar (100) are connected.
5. The permanent magnet lifting device for a robot arm according to claim 1, wherein the link is provided with a bent portion through which the horizontal portion of the link and the vertical portion of the link are connected.
6. The permanent magnet lifting device for the mechanical arm according to claim 1, wherein the permanent magnet lifting mechanism (310) comprises a permanent magnet jack and a steering gear, the steering gear is connected with the reversible magnetic steel (331) of the permanent magnet jack, and the steering gear is used for driving the reversible magnetic steel (331) to rotate.
7. The permanent magnet lifting device for the mechanical arm as claimed in claim 6, wherein the permanent magnet control mechanism (320) is connected with the steering gear, and the permanent magnet control mechanism (320) is used for controlling the steering gear to steer.
8. The permanent magnet lifting device for the mechanical arm according to claim 6, wherein the steering gear is a rotary cylinder (340), the permanent magnet control mechanism (320) comprises an air source air inlet (323), a magnetism obtaining button (322) and a demagnetization button (321), one end of the air source air inlet (323) is connected with a compressed air source (325), the other end of the air source air inlet (323) is connected with the magnetism obtaining button (322) and the demagnetization button (321) respectively, the magnetism obtaining button (322) and the demagnetization button (321) are connected to the magnetism obtaining air inlet (342) and the demagnetization air inlet (343) of the rotary cylinder (340) respectively through a magnetism obtaining pipe (351) and a demagnetization pipe (352), and the magnetism obtaining button (322) and the demagnetization button (321) are used for controlling the rotation direction of the rotary cylinder (340).
9. The permanent magnet lifting device for the mechanical arm according to any one of claims 1 to 8, wherein the connecting rod and/or the permanent magnet lifting mechanism (310) is provided with at least 2 handles, and the axes of the handles are perpendicular to each other or are perpendicular to each other.
10. A permanent magnet lifting arm, characterized in that the free end of the arm is provided with a permanent magnet lifting device according to any of claims 1-9, the mounting rod (100) of the permanent magnet lifting device being mounted to the free end of the arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921485100.2U CN210682933U (en) | 2019-09-06 | 2019-09-06 | Permanent magnet hoisting device for mechanical arm and permanent magnet hoisting mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921485100.2U CN210682933U (en) | 2019-09-06 | 2019-09-06 | Permanent magnet hoisting device for mechanical arm and permanent magnet hoisting mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210682933U true CN210682933U (en) | 2020-06-05 |
Family
ID=70894810
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921485100.2U Active CN210682933U (en) | 2019-09-06 | 2019-09-06 | Permanent magnet hoisting device for mechanical arm and permanent magnet hoisting mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210682933U (en) |
-
2019
- 2019-09-06 CN CN201921485100.2U patent/CN210682933U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20220203484A1 (en) | Steel structure welding device | |
| CN210282319U (en) | But multi-angle rotating's manipulator | |
| CN205147628U (en) | Welding robot | |
| CN210682933U (en) | Permanent magnet hoisting device for mechanical arm and permanent magnet hoisting mechanical arm | |
| CN114888494A (en) | High-altitude steel beam welding robot, welding head adjusting mechanism and welding method | |
| CN210791022U (en) | Clamping device and mechanical arm using same | |
| KR101141133B1 (en) | Lug attaching equipment | |
| JP2001054889A (en) | Vertical articulated robot for assembly | |
| CN201183714Y (en) | Hoisting jig | |
| CN204748610U (en) | Unloading air -balance helping hand manipulator on hub blank | |
| CN114871659B (en) | Automatic welding manipulator for automobile assembly | |
| CN207874263U (en) | Six-shaft industrial mechanical arm | |
| CN215471271U (en) | Flexible assembling manipulator for production line | |
| CN215358483U (en) | Hub double-station clamping jaw | |
| CN108994821A (en) | A kind of SCARA robot of both arms | |
| CN210233029U (en) | Ground-placed type multi-joint robot | |
| CN210937885U (en) | Clamp for welding robot | |
| CN219387249U (en) | Wallboard installation robot | |
| CN112928570A (en) | Grounding wire operation tool, grounding wire hanging and dismounting system and method | |
| CN207840532U (en) | A kind of switching mechanism of aluminum alloy pattern plate welder | |
| CN207547991U (en) | For the tooling of clamping workpiece | |
| JPH05285756A (en) | Multipurpose finishing machine | |
| CN216731821U (en) | Liftable arm structure | |
| CN216246207U (en) | Three-coordinate electric swing arm type control box for swing rolling machine | |
| CN105522305A (en) | Welding arm of automatic welding machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: NINGBO SUNRISE INDUSTRIAL AUTOMATION Co.,Ltd. Assignor: SHENYANG RUISHENG INTELLIGENT EQUIPMENT Co.,Ltd. Contract record no.: X2023980053848 Denomination of utility model: A permanent magnet lifting device for robotic arms and a permanent magnet lifting robotic arm Granted publication date: 20200605 License type: Common License Record date: 20231225 |
|
| EE01 | Entry into force of recordation of patent licensing contract |