CN211220732U - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
- Publication number
- CN211220732U CN211220732U CN201921971607.9U CN201921971607U CN211220732U CN 211220732 U CN211220732 U CN 211220732U CN 201921971607 U CN201921971607 U CN 201921971607U CN 211220732 U CN211220732 U CN 211220732U
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- rotating shaft
- swing arm
- seat
- ball screw
- swing
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Abstract
The utility model discloses a manipulator, which comprises a swing clamping device, wherein the swing clamping device comprises a base, a first swing arm, a second swing arm and a clamping mechanism, the base is rotatably connected with the first swing arm through a first rotating shaft, the first rotating shaft extends forwards and backwards, and the base is provided with a first rotary driver; the first swing arm is rotatably connected with the second swing arm through a second rotating shaft, the second rotating shaft is transversely arranged, and a second rotary driver is arranged on the first swing arm; the clamping mechanism is arranged on the second swing arm. When the clamping mechanism is used, after a workpiece to be machined is clamped by the clamping mechanism, the second rotary driver can be started to drive the second swing arm to rotate, so that the workpiece to be machined rotates around the second rotating shaft, and the first rotary driver can also be started to drive the first swing arm to rotate, so that the workpiece to be machined rotates around the first rotating shaft; the utility model discloses can treat the machined part and carry out the position change of two rotational degrees of freedom, can make six sides of treating the machined part aim at processingequipment respectively.
Description
Technical Field
The utility model relates to the field of machining, especially, relate to a manipulator.
Background
In the machining and manufacturing industry, some procedures need to clamp a workpiece to be machined and then turn the workpiece to be machined at a certain angle, so that one side face of the workpiece is aligned with a machining device; the existing device for clamping and turning the workpiece to be machined can only change the position of the workpiece to be machined with one degree of rotational freedom, and can not enable six side surfaces of the front side, the rear side, the left side, the right side, the upper side and the lower side of the workpiece to be machined to respectively align with a machining device, so that the prior art still has defects.
SUMMERY OF THE UTILITY MODEL
The utility model discloses aim at solving one of the technical problem that exists among the prior art at least. Therefore, the utility model provides a manipulator, it enables to treat six sides of machined part and aim at processingequipment respectively.
The manipulator according to the embodiment of the utility model comprises a moving device, a connecting assembly and a swing clamping device, wherein the moving device comprises a first linear moving mechanism and a second linear moving mechanism, the first linear moving mechanism comprises a first fixed seat, a first movable seat and a first linear driver, the first fixed seat is connected with the first movable seat in a vertical sliding manner, and the fixed end and the movable end of the first linear driver are respectively fixedly connected with the first fixed seat and the first movable seat; the second linear moving mechanism comprises a second fixed seat, a second movable seat and a second linear driver, the second fixed seat is fixedly connected with the first movable seat, the second fixed seat is connected with the second movable seat in a left-right sliding manner, and the fixed end and the movable end of the second linear driver are respectively fixedly connected with the second fixed seat and the second movable seat; the connecting assembly is arranged on the second movable seat; the swing clamping device comprises a base, a first swing arm, a second swing arm and a clamping mechanism, the base is arranged on the connecting assembly and is rotatably connected with the first swing arm through a first rotating shaft, the first rotating shaft extends forwards and backwards, the first rotating shaft is fixedly connected with the first swing arm, and a first rotary driver for driving the first rotating shaft to rotate is arranged on the base; the first swing arm is rotatably connected with the second swing arm through a second rotating shaft, the second rotating shaft is transversely arranged, the second rotating shaft is fixedly connected with the second swing arm, and a second rotary driver for driving the second rotating shaft to rotate is arranged on the first swing arm; the clamping mechanism is arranged on the second swing arm.
According to the utility model discloses manipulator has following technological effect at least: when the clamping mechanism is used, after a workpiece to be machined is clamped by the clamping mechanism, the second rotary driver can be started to drive the second rotating shaft to rotate, so that the workpiece to be machined rotates around the second rotating shaft; after the clamping mechanism can clamp the workpiece to be machined, the first rotary driver can be started to drive the first rotating shaft to rotate, so that the workpiece to be machined rotates around the first rotating shaft; the utility model discloses can treat the machined part and carry out the position change of two rotational degrees of freedom, can make six sides of treating the machined part aim at processingequipment respectively.
According to some embodiments of the invention, the second rotary drive is a fourth motor, the fourth motor having a shaft fixedly connected to the second shaft.
According to the utility model discloses a some embodiments, fixture includes die clamping cylinder, be equipped with splint, two respectively on die clamping cylinder's stiff end, the activity end splint set up relatively, die clamping cylinder locates on the second swing arm.
According to some embodiments of the present invention, the first rotary actuator is a first oscillating cylinder, the axis of rotation of which is fixedly connected to the first axis of rotation.
According to some embodiments of the utility model, second swing cylinder has still set firmly on the base, first swing cylinder locates second swing cylinder with between the first swing arm, second swing cylinder's pivot with first swing cylinder fixed connection, first swing cylinder's pivot with second swing cylinder's pivot is coaxial.
According to the utility model discloses a some embodiments, coupling assembling includes third fixing base, third sliding seat and third linear actuator, the third fixing base with sliding connection around the third sliding seat, the stiff end of third linear actuator, expansion end respectively with the third fixing base third sliding seat fixed connection, the base with third sliding seat fixed connection.
According to some embodiments of the present invention, a first guide rail is vertically disposed on the first fixing base, a first slider is disposed on the first movable base, the first slider is disposed on the first guide rail, the first linear actuator includes a first motor and a first ball screw mechanism, the first motor and a ball screw of the first ball screw mechanism coaxially rotate, and a ball nut of the first ball screw mechanism is fixedly connected to the first movable base; the second fixed seat is provided with a second guide rail which is transversely arranged, the second movable seat is provided with a second sliding block, the second sliding block is arranged on the second guide rail, the second linear driver comprises a second motor and a second ball screw mechanism, the second motor and the ball screw of the second ball screw mechanism coaxially rotate, and a ball nut of the second ball screw mechanism is fixedly connected with the second movable seat; the third linear driver comprises a third motor and a third ball screw mechanism, the third motor coaxially rotates with the ball screw of the third ball screw mechanism, and the ball nut of the third ball screw mechanism is fixedly connected with the third movable seat.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a front view of the structure of the embodiment of the present invention;
fig. 2 is a schematic view of the connection assembly of fig. 1.
Reference numerals:
the device comprises a first fixed seat 110, a first motor 121, a second fixed seat 210, a second motor 221, a connecting assembly 300, a third fixed seat 310, a third motor 321, a base 410, a first swing cylinder 411, a second swing cylinder 412, a first swing arm 420, a fourth motor 421, a second swing arm 430, a clamping cylinder 431 and a clamping plate 432.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship indicated with respect to the orientation description, such as up, down, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. The terms "a" or "an" mean one or more, the terms "a" or "an" mean two or more, the terms larger than, smaller than, exceeding, and the like are understood to include the number, and the terms "larger than, smaller than, within, and the like are understood to include the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless there is an explicit limitation, the words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in combination with the specific contents of the technical solution.
A robot hand according to an embodiment of the present invention is described below with reference to fig. 1 and 2.
As shown in fig. 1 and fig. 2, according to the present invention, the manipulator includes a moving device, a connecting assembly 300 and a swing clamping device, the moving device includes a first linear moving mechanism and a second linear moving mechanism, the first linear moving mechanism includes a first fixed seat 110, a first movable seat and a first linear actuator, the first fixed seat 110 is connected with the first movable seat in a vertical sliding manner, and a fixed end and a movable end of the first linear actuator are respectively connected with the first fixed seat 110 and the first movable seat in a fixed manner; the second linear moving mechanism comprises a second fixed seat 210, a second movable seat and a second linear driver, the second fixed seat 210 is fixedly connected with the first movable seat, the second fixed seat 210 is connected with the second movable seat in a left-right sliding manner, and the fixed end and the movable end of the second linear driver are respectively fixedly connected with the second fixed seat 210 and the second movable seat; the connecting assembly 300 is arranged on the second movable seat; the swing clamping device comprises a base 410, a first swing arm 420, a second swing arm 430 and a clamping mechanism, wherein the base 410 is arranged on the connecting assembly 300, the base 410 and the first swing arm 420 are rotatably connected through a first rotating shaft, the first rotating shaft extends forwards and backwards, the first rotating shaft is fixedly connected with the first swing arm 420, and a first rotary driver for driving the first rotating shaft to rotate is arranged on the base 410; the first swing arm 420 and the second swing arm 430 are rotatably connected through a second rotating shaft, the second rotating shaft is transversely arranged, the second rotating shaft is fixedly connected with the second swing arm 430, and a second rotary driver for driving the second rotating shaft to rotate is arranged on the first swing arm 420; the clamping mechanism is disposed on the second swing arm 430.
When the clamping mechanism is used, after a workpiece to be machined is clamped by the clamping mechanism, the second rotary driver can be started to drive the second rotating shaft to rotate, so that the workpiece to be machined rotates around the second rotating shaft; after the clamping mechanism can clamp the workpiece to be machined, the first rotary driver can be started to drive the first rotating shaft to rotate, so that the workpiece to be machined rotates around the first rotating shaft; the utility model discloses can treat that the machined part carries out the position change of two rotational degrees of freedom, can make six sides of treating the machined part aim at processingequipment respectively
In some embodiments of the present invention, the second rotary actuator is a fourth motor 421, and a rotating shaft of the fourth motor 421 is fixedly connected to the second rotating shaft. The fourth motor 421 can be a servo motor, so that the clamping mechanism can rotate the workpiece to be processed by any angle around the second rotating shaft after clamping the workpiece to be processed.
In some embodiments of the present invention, the clamping mechanism includes a clamping cylinder 431, the fixed end and the movable end of the clamping cylinder 431 are respectively provided with a clamp plate 432, two clamp plates 432 are oppositely disposed, and the clamping cylinder 431 is disposed on the second swing arm 430. Thus, the structure is simple and the arrangement is convenient.
The gravity of first swing arm 420, second swing arm 430, second rotary drive and fixture all can be used in first pivot, and first rotary drive needs to export great torque, in some embodiments of the utility model, first rotary drive is first swing cylinder 411, first swing cylinder 411's pivot and first pivot fixed connection. Compared with the motor, the swing cylinder can output larger torque.
In some embodiments of the present invention, a second swing cylinder 412 is further fixed on the base 410, the first swing cylinder 411 is disposed between the second swing cylinder 412 and the first swing arm 420, a rotation shaft of the second swing cylinder 412 is fixedly connected to the first swing cylinder 411, and a rotation shaft of the first swing cylinder 411 is coaxial with a rotation shaft of the second swing cylinder 412. In this way, the swing angle of the first swing cylinder 411 can be set to ninety degrees, and the swing angle of the second swing cylinder 412 can be set to ninety degrees, so that when the first swing cylinder 411 and the second swing cylinder 412 are operated simultaneously, the workpiece to be machined is turned upside down, and when one of the first swing cylinder 411 and the second swing cylinder 412 is operated, the workpiece to be machined is turned ninety degrees.
In some embodiments of the present invention, the connection assembly 300 includes a third fixing base 310, a third movable base and a third linear actuator, the third fixing base 310 is connected with the third movable base in a sliding manner, the fixed end and the movable end of the third linear actuator are respectively connected with the third fixing base 310 and the third movable base, and the base 410 is connected with the third movable base. Therefore, the clamping mechanism can move back and forth after clamping the workpiece to be processed, and the front and back positions of the workpiece to be processed can be adjusted conveniently.
In some embodiments of the present invention, a first guide rail is vertically disposed on the first fixed seat 110, a first sliding block is disposed on the first movable seat, the first sliding block is disposed on the first guide rail, the first linear actuator includes a first motor 121 and a first ball screw mechanism, the first motor 121 and the ball screw of the first ball screw mechanism rotate coaxially, and a ball nut of the first ball screw mechanism is fixedly connected to the first movable seat; a second guide rail which is transversely arranged is arranged on the second fixed seat 210, a second sliding block is arranged on the second movable seat, the second sliding block is arranged on the second guide rail, the second linear driver comprises a second motor 221 and a second ball screw mechanism, the second motor 221 and a ball screw of the second ball screw mechanism coaxially rotate, and a ball nut of the second ball screw mechanism is fixedly connected with the second movable seat; a third guide rail extending forwards and backwards is arranged on the third fixed seat 310, a third sliding block is arranged on the third movable seat, the third sliding block is arranged on the third guide rail, the third linear actuator comprises a third motor 321 and a third ball screw mechanism, the third motor 321 coaxially rotates with a ball screw of the third ball screw mechanism, and a ball nut of the third ball screw mechanism is fixedly connected with the third movable seat.
While the preferred embodiments of the present invention have been described in detail, it will be understood by those skilled in the art that the foregoing and various other changes, omissions and deviations in the form and detail thereof may be made without departing from the scope of this invention.
Claims (7)
1. A manipulator, characterized by comprising:
the moving device comprises a first linear moving mechanism and a second linear moving mechanism, wherein the first linear moving mechanism comprises a first fixed seat, a first movable seat and a first linear driver, the first fixed seat is connected with the first movable seat in a vertical sliding manner, and a fixed end and a movable end of the first linear driver are respectively fixedly connected with the first fixed seat and the first movable seat; the second linear moving mechanism comprises a second fixed seat, a second movable seat and a second linear driver, the second fixed seat is fixedly connected with the first movable seat, the second fixed seat is connected with the second movable seat in a left-right sliding manner, and the fixed end and the movable end of the second linear driver are respectively fixedly connected with the second fixed seat and the second movable seat;
the connecting component is arranged on the second movable seat;
the swing clamping device comprises a base, a first swing arm, a second swing arm and a clamping mechanism, wherein the base is arranged on the connecting assembly and is rotatably connected with the first swing arm through a first rotating shaft, the first rotating shaft extends forwards and backwards, the first rotating shaft is fixedly connected with the first swing arm, and a first rotary driver for driving the first rotating shaft to rotate is arranged on the base; the first swing arm is rotatably connected with the second swing arm through a second rotating shaft, the second rotating shaft is transversely arranged, the second rotating shaft is fixedly connected with the second swing arm, and a second rotary driver for driving the second rotating shaft to rotate is arranged on the first swing arm; the clamping mechanism is arranged on the second swing arm.
2. The robot hand according to claim 1, wherein: the second rotary driver is a fourth motor, and a rotating shaft of the fourth motor is fixedly connected with the second rotating shaft.
3. The robot hand according to claim 1, wherein: the clamping mechanism comprises a clamping cylinder, clamping plates are arranged at the fixed end and the movable end of the clamping cylinder respectively and are arranged oppositely, and the clamping cylinder is arranged on the second swing arm.
4. The robot hand according to claim 1, wherein: the first rotary driver is a first swing cylinder, and a rotating shaft of the first swing cylinder is fixedly connected with the first rotating shaft.
5. The robot hand according to claim 4, wherein: the base is further fixedly provided with a second swing cylinder, the first swing cylinder is arranged between the second swing cylinder and the first swing arm, a rotating shaft of the second swing cylinder is fixedly connected with the first swing cylinder, and the rotating shaft of the first swing cylinder is coaxial with the rotating shaft of the second swing cylinder.
6. The robot hand according to claim 1, wherein: coupling assembling includes third fixing base, third sliding seat and third sharp driver, the third fixing base with sliding connection around the third sliding seat, the stiff end of third sharp driver, expansion end respectively with the third fixing base third sliding seat fixed connection, the base with third sliding seat fixed connection.
7. The robot hand of claim 6, wherein: the first fixed seat is provided with a vertically arranged first guide rail, the first movable seat is provided with a first sliding block, the first sliding block is arranged on the first guide rail, the first linear driver comprises a first motor and a first ball screw mechanism, the first motor and the ball screw of the first ball screw mechanism coaxially rotate, and a ball nut of the first ball screw mechanism is fixedly connected with the first movable seat; the second fixed seat is provided with a second guide rail which is transversely arranged, the second movable seat is provided with a second sliding block, the second sliding block is arranged on the second guide rail, the second linear driver comprises a second motor and a second ball screw mechanism, the second motor and the ball screw of the second ball screw mechanism coaxially rotate, and a ball nut of the second ball screw mechanism is fixedly connected with the second movable seat; the third linear driver comprises a third motor and a third ball screw mechanism, the third motor coaxially rotates with the ball screw of the third ball screw mechanism, and the ball nut of the third ball screw mechanism is fixedly connected with the third movable seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921971607.9U CN211220732U (en) | 2019-11-14 | 2019-11-14 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921971607.9U CN211220732U (en) | 2019-11-14 | 2019-11-14 | Mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211220732U true CN211220732U (en) | 2020-08-11 |
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ID=71931071
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921971607.9U Active CN211220732U (en) | 2019-11-14 | 2019-11-14 | Mechanical arm |
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| Country | Link |
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| CN (1) | CN211220732U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112936236A (en) * | 2021-02-09 | 2021-06-11 | 浙江万胜智能科技股份有限公司 | High-precision ammeter clamping manipulator |
-
2019
- 2019-11-14 CN CN201921971607.9U patent/CN211220732U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112936236A (en) * | 2021-02-09 | 2021-06-11 | 浙江万胜智能科技股份有限公司 | High-precision ammeter clamping manipulator |
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