CN211305646U - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
- Publication number
- CN211305646U CN211305646U CN201921783964.2U CN201921783964U CN211305646U CN 211305646 U CN211305646 U CN 211305646U CN 201921783964 U CN201921783964 U CN 201921783964U CN 211305646 U CN211305646 U CN 211305646U
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- cutter
- gear shaft
- knife
- spring
- plate
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Abstract
The utility model discloses a manipulator, which relates to the field of mechanical automation and comprises a body, wherein one end of the body is integrally formed with a limit block, the other end is provided with two knife locking plates, and the tail ends of the knife locking plates are fixedly provided with a knife claw; the body is fixedly connected with an upper cover through a limiting block, the front end of the cutter locking plate is positioned between the body and the upper cover, a gear shaft hole is formed in the position, close to the limiting block, of the cutter locking plate, a gear shaft penetrates through the gear shaft hole, and the diameter of the gear shaft hole is larger than that of the gear shaft; a rotating shaft penetrates through the middle part of the cutter locking plate; a bar-shaped block is fixedly arranged on the body and positioned between the two knife locking plates, a horizontal spring hole is formed in the bar-shaped block, and a spring penetrates through the spring hole; a guide groove is formed in the limiting block, a top plate penetrates through the guide groove, and symmetrical first inclined planes are formed in two sides of the front end of the top plate; the end of the top plate is connected with a push plate, the push plate is connected with an oil cylinder, and the oil cylinder is fixed on the upper cover. The utility model provides a manipulator makes the sword claw be in the state of opening before grabbing the sword, avoids hard contact harm cutter.
Description
Technical Field
The utility model relates to a mechanical automation technical field especially relates to a manipulator.
Background
The tool changing device of the existing tool magazine needs to adopt a manipulator to clamp and move a tool, so that the tool changing action is assisted to be completed. The manipulator is provided with the tool claw for clamping the tool, however, the traditional manipulator enables the tool claw to be closed through the spring in a non-working state, when the manipulator is used, the tool claw is opened through the hard contact of the tool claw and the tool, the tool is clamped through the spring force, however, the tool claw and the tool are extremely easy to damage through the hard contact mode, and the practicability is poor.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a manipulator to solve the problem that above-mentioned prior art exists, make the sword claw be in the state of opening before grabbing the sword, avoid hard contact harm cutter.
In order to achieve the above object, the utility model provides a following scheme:
the utility model provides a manipulator, which comprises a body, wherein one end of the body is integrally formed with a limiting block with a rectangular cross section, the other end is provided with two symmetrically arranged knife locking plates, the tail ends of the knife locking plates are positioned outside the body, and the tail ends of the knife locking plates are fixedly provided with a knife claw; the body is fixedly connected with an upper cover through the limiting block, the front end of the cutter locking plate is positioned between the body and the upper cover, a gear shaft hole is formed in the position, close to the limiting block, of the cutter locking plate, a gear shaft penetrates through the gear shaft hole, and the diameter of the gear shaft hole is larger than that of the gear shaft; a rotating shaft penetrates through the middle part of the cutter locking plate, and the rotating shaft and the blocking shaft are fixedly arranged between the body and the upper cover; the lock knife plate is characterized in that a bar-shaped block is fixedly arranged on the body and positioned between the two lock knife plates, a horizontal spring hole is formed in the bar-shaped block, a spring penetrates through the spring hole, symmetrical spring grooves are formed in the side walls of the lock knife plates positioned at the two ends of the spring, and the two ends of the spring are positioned in the spring grooves; the limiting block is provided with a guide groove, a top plate penetrates through the guide groove, the top plate and the strip-shaped block are positioned on the same horizontal line, symmetrical first inclined planes are arranged on two sides of the front end of the top plate, and the width of the top plate is larger than the distance between the two knife locking plates; the end of the top plate is connected with a vertically arranged push plate, the push plate is connected with an oil cylinder, and the oil cylinder is fixed on the upper cover.
Optionally, symmetrical arc-shaped grooves are formed in the inner side of the cutter claw, and arc-shaped flanges are arranged at the arc-shaped grooves.
Optionally, a positioning key is fixedly mounted on the knife claw, and the positioning key is located on the side face of the front end of the knife claw.
Optionally, a second inclined plane is formed on the inner side of the front end of each of the two cutter locking plates, the second inclined plane and the first inclined plane have the same inclination direction, and the inclination angles are equal.
Optionally, the bar-shaped block is integrally formed with the body.
Optionally, the rotating shaft and the two ends of the gear shaft are respectively fixed on the body and the upper cover through snap springs.
The utility model discloses for prior art gain following technological effect:
the manipulator provided by the utility model has high strength, can grab heavy knives, and the front knife claw of the grabbing knife is in an open state under the action of the spring, thereby avoiding the hard contact between the knife claw and the knife and improving the safety; the cutter locking mechanism is stable and convenient for daily maintenance.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is a perspective view of the manipulator of the present invention;
fig. 2 is a front view of the manipulator of the present invention;
fig. 3 is a side view of the robot of the present invention;
fig. 4 is a partial sectional view of the robot of the present invention;
wherein, 1 is a knife locking plate, 2 is a rotating shaft, 3 is a blocking shaft, 4 is a top plate, 5 is a spring, 6 is an oil cylinder, 7 is a knife claw, 8 is a push plate, 9 is a body, 10 is a positioning key, 11 is an upper cover, 12 is a first inclined plane, 13 is a second inclined plane, and 14 is a strip-shaped block.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The utility model aims at providing a manipulator to solve the problem that above-mentioned prior art exists, make the sword claw be in the state of opening before grabbing the sword, avoid hard contact harm cutter.
In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description.
The utility model provides a manipulator, as shown in fig. 1-4, comprising a body 9, wherein one end of the body 9 is integrally formed with a limiting block with a rectangular cross section, the other end is provided with two symmetrically arranged knife locking plates 1, the tail end of the knife locking plate 1 is positioned outside the body 9, and the tail end of the knife locking plate 1 is fixedly provided with a knife claw 7; the body 9 is fixedly connected with an upper cover 11 through a limiting block, the front end of the cutter locking plate 1 is positioned between the body 9 and the upper cover 11, a gear shaft hole is formed in the position, close to the limiting block, of the cutter locking plate 1, a gear shaft 3 penetrates through the gear shaft hole, and the diameter of the gear shaft hole is larger than that of the gear shaft 3; the middle part of the knife locking plate 1 is provided with a rotating shaft 2 in a penetrating way, and the rotating shaft 2 and the blocking shaft 3 are both fixedly arranged between the body 9 and the upper cover 11; a bar-shaped block 14 is fixedly arranged on the body 9, the bar-shaped block 14 is positioned between the two knife locking plates 1, a horizontal spring hole is formed in the bar-shaped block 14, a spring 5 penetrates through the spring hole, symmetrical spring grooves are formed in the side walls of the knife locking plates 1 positioned at the two ends of the spring 5, and the two ends of the spring 5 are positioned in the spring grooves; the spring 5 is positioned between the rotating shaft 2 and the cutter claw 7; a guide groove is formed in the limiting block, a top plate 4 penetrates through the guide groove, the top plate 4 and the strip-shaped block 14 are located on the same horizontal line, symmetrical first inclined planes 12 are formed in two sides of the front end of the top plate 4, and the width of the top plate 4 is larger than the distance between the two knife locking plates 1; the end of the top plate 4 is connected with a push plate 8 which is vertically arranged, the push plate 8 is connected with an oil cylinder 6, and the oil cylinder 6 is fixed on the upper cover 11.
Further preferably, symmetrical arc-shaped grooves are formed in the inner side of the cutter claw 7, and arc-shaped flanges are arranged at the arc-shaped grooves. The knife claw 7 is fixedly provided with a positioning key 10, and the positioning key 10 is positioned on the side surface of the front end of the knife claw 7. The inner sides of the front ends of the two knife locking plates 1 are provided with second inclined planes 13, the inclined directions of the second inclined planes 13 and the first inclined planes 12 are the same, and the inclined angles are the same. The bar 14 is integrally formed with the body 9. The two ends of the rotating shaft 2 and the gear shaft 3 are respectively fixed on the body 6 and the upper cover 11 through snap springs.
The utility model clamps the cutter through the symmetrical arc grooves on the two cutter claws 7; a piston rod of an oil cylinder 6 is fixedly connected with one end of a push plate 8, a rotating shaft 2 is positioned between a spring 5 and a blocking shaft 3, under the action of the elastic force of the spring 5, one end, far away from the blocking shaft 3, of a knife locking plate 1 is in an opening state, when the manipulator is used, a manipulator is close to a cutter, an arc-shaped groove of a knife claw 7 is clamped into a knife handle of the cutter, the oil cylinder 6 controls a telescopic rod to move, so that the push plate 8 is driven to move along with the knife locking plate, the other end of the push plate 8 is connected with a top plate 4, the top plate 4 is driven to move horizontally, a first inclined surface 12 at the end part of the top plate 4 is contacted and matched with a second inclined surface 13 of the knife locking plate 1, the top plate 4 continues to move, as the diameter of a blocking shaft hole is larger than that of the blocking shaft 3, at the moment, one end, near the blocking shaft 3, of the knife, at the moment, the cutter claw 7 rotates inwards around the rotating shaft 2, and the spring 5 is compressed; when the knife claw 7 grabs the knife, the oil cylinder 6 stops acting, the top plate 4 stops moving, the knife is clamped at the moment, the oil cylinder 6 is started after the manipulator drives the knife to move to the preset position under the control of the control system, the telescopic rod of the oil cylinder 6 moves in the reverse direction to drive the top plate 4 to translate in the reverse direction, the first inclined plane 12 is separated from the second inclined plane 13 and is not contacted, at the moment, under the action of the elastic force of the spring 5, one end, close to the knife claw 7, of the knife locking plate 1 drives the knife claw 7 to rotate outwards around the rotating shaft 2, and the knife is loosened. The positioning key 10 is fixed on the knife claw 7 through a screw, and one side of the positioning key 10 protrudes out of the arc-shaped groove of the knife claw 7, so that the knife can be clamped into the groove of the knife handle of the knife when the knife is grabbed, the rotation of the knife is avoided, and the fixing effect is achieved.
The utility model discloses a concrete example is applied to explain the principle and the implementation mode of the utility model, and the explanation of the above example is only used to help understand the method and the core idea of the utility model; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the concrete implementation and the application scope. In summary, the content of the present specification should not be construed as a limitation of the present invention.
Claims (6)
1. A manipulator, its characterized in that: the cutter locking device comprises a body, wherein a limiting block with a rectangular cross section is integrally formed at one end of the body, two symmetrically arranged cutter locking plates are arranged at the other end of the body, the tail ends of the cutter locking plates are positioned outside the body, and cutter claws are fixedly arranged at the tail ends of the cutter locking plates; the body is fixedly connected with an upper cover through the limiting block, the front end of the cutter locking plate is positioned between the body and the upper cover, a gear shaft hole is formed in the position, close to the limiting block, of the cutter locking plate, a gear shaft penetrates through the gear shaft hole, and the diameter of the gear shaft hole is larger than that of the gear shaft; a rotating shaft penetrates through the middle part of the cutter locking plate, and the rotating shaft and the blocking shaft are fixedly arranged between the body and the upper cover; the lock knife plate is characterized in that a bar-shaped block is fixedly arranged on the body and positioned between the two lock knife plates, a horizontal spring hole is formed in the bar-shaped block, a spring penetrates through the spring hole, symmetrical spring grooves are formed in the side walls of the lock knife plates positioned at the two ends of the spring, and the two ends of the spring are positioned in the spring grooves; the limiting block is provided with a guide groove, a top plate penetrates through the guide groove, the top plate and the strip-shaped block are positioned on the same horizontal line, symmetrical first inclined planes are arranged on two sides of the front end of the top plate, and the width of the top plate is larger than the distance between the two knife locking plates; the end of the top plate is connected with a vertically arranged push plate, the push plate is connected with an oil cylinder, and the oil cylinder is fixed on the upper cover.
2. The robot hand according to claim 1, wherein: symmetrical arc-shaped grooves are formed in the inner sides of the cutter claws, and arc-shaped flanges are arranged at the arc-shaped grooves.
3. The robot hand according to claim 2, wherein: and the cutter claw is fixedly provided with a positioning key, and the positioning key is positioned on the side surface of the front end of the cutter claw.
4. The robot hand according to claim 1, wherein: and a second inclined plane is formed on the inner side of the front end of each of the two cutter locking plates, the inclined directions of the second inclined planes and the first inclined planes are the same, and the inclined angles are the same.
5. The robot hand according to claim 1, wherein: the bar-shaped block and the body are integrally formed.
6. The robot hand according to claim 1, wherein: the rotating shaft and the two ends of the gear shaft are respectively fixed on the body and the upper cover through snap springs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921783964.2U CN211305646U (en) | 2019-10-23 | 2019-10-23 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921783964.2U CN211305646U (en) | 2019-10-23 | 2019-10-23 | Mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211305646U true CN211305646U (en) | 2020-08-21 |
Family
ID=72066716
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921783964.2U Active CN211305646U (en) | 2019-10-23 | 2019-10-23 | Mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211305646U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112692625A (en) * | 2019-10-23 | 2021-04-23 | 冈田精机丹阳有限公司 | Mechanical arm |
| CN113118031A (en) * | 2021-03-31 | 2021-07-16 | 北京加隆工程机械有限公司 | Intelligent sorting robot |
-
2019
- 2019-10-23 CN CN201921783964.2U patent/CN211305646U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112692625A (en) * | 2019-10-23 | 2021-04-23 | 冈田精机丹阳有限公司 | Mechanical arm |
| CN113118031A (en) * | 2021-03-31 | 2021-07-16 | 北京加隆工程机械有限公司 | Intelligent sorting robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 212300 Huguo Road, Erling Town, Danyang City, Zhenjiang City, Jiangsu Province Patentee after: Okada Intelligent (Jiangsu) Co.,Ltd. Address before: 212300 Huguo Road, Erling Town, Danyang City, Zhenjiang City, Jiangsu Province Patentee before: OKADA SEIKI DANYANG Co.,Ltd. Address after: 212300 Huguo Road, Erling Town, Danyang City, Zhenjiang City, Jiangsu Province Patentee after: Okada Intelligent (Jiangsu) Co.,Ltd. Address before: 212300 Huguo Road, Erling Town, Danyang City, Zhenjiang City, Jiangsu Province Patentee before: Okada Intelligent (Jiangsu) Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder |