CN212218536U - Linkage type mechanical arm - Google Patents
Linkage type mechanical arm Download PDFInfo
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- CN212218536U CN212218536U CN202020779256.8U CN202020779256U CN212218536U CN 212218536 U CN212218536 U CN 212218536U CN 202020779256 U CN202020779256 U CN 202020779256U CN 212218536 U CN212218536 U CN 212218536U
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- plate
- connecting rod
- cylinder
- rotating shaft
- linkage type
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- 229910000831 Steel Inorganic materials 0.000 claims description 20
- 239000010959 steel Substances 0.000 claims description 20
- 238000005452 bending Methods 0.000 claims description 15
- 230000003014 reinforcing effect Effects 0.000 claims description 10
- 230000000149 penetrating effect Effects 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Abstract
The utility model discloses a linkage type arm, including preceding swing hydro-cylinder, back swing hydro-cylinder and support, the both ends of preceding swing hydro-cylinder are connected with the head rod separately, the end connection of head rod has grabbing device, two the grabbing device symmetry sets up the left and right sides of preceding swing hydro-cylinder, the both ends of back swing hydro-cylinder are connected with the second connecting rod separately, the second connecting rod pass through the connecting plate with the head rod is connected, the second connecting rod passes the support. The utility model provides a coordinated type arm possesses two grabbing device, two grabbing device linkage motion under the drive of swing hydro-cylinder in the front and back swing hydro-cylinder, can snatch the both ends of the long work piece of length, simple structure, the cost is reduced makes the convenience moreover.
Description
Technical Field
The utility model relates to a manipulator especially relates to a linkage type manipulator.
Background
The mechanical arm is a complex mechanical device generally used for grabbing and carrying devices, and is characterized by flexible operability and wide application in the field of industrial assembly, such as grabbing an oil pipe during maintenance of the oil pipe. Typically, robotic arms grip small volumes of workpieces, and thus are typically single-jaw. But when carrying the long work piece of length, for example oil pipe, the arm that current single armed was snatched can't stably snatch the work piece, consequently need snatch simultaneously through two arms, has improved the cost greatly.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the utility model provides a linkage type arm, its purpose snatchs the long work piece of length through the grabbing device of simultaneous movement.
In order to achieve the above purpose, the technical scheme of the utility model is as follows: the utility model provides a linkage type arm, includes preceding swing hydro-cylinder, back swing hydro-cylinder and support, the both ends of preceding swing hydro-cylinder are connected with the head rod separately, the end connection of head rod has grabbing device, two grabbing device symmetry sets up the left and right sides of preceding swing hydro-cylinder, the both ends of back swing hydro-cylinder are connected with the second connecting rod separately, the second connecting rod pass through the connecting plate with the head rod is connected, the second connecting rod passes the support.
Preferably, the first connecting rod and the second connecting rod are respectively sleeved with a flange, the first connecting rod is connected with the front swing oil cylinder through the flange, and the second connecting rod is connected with the rear swing oil cylinder through the flange.
Preferably, the flange plate on the second connecting rod is connected with the front swing oil cylinder through a connecting frame.
Preferably, the connecting frame comprises a connecting frame main board, a bending board and a side board, the connecting frame main board is integrated with the bending board and perpendicular to the connecting frame main board, the side board is perpendicular to the connecting frame main board and the bending board, the connecting frame main board is connected with a flange plate on the second connecting rod, and the bending board is connected with the front swing oil cylinder through a bolt.
Preferably, the first connecting rod comprises a first steel pipe and a first rotating shaft, one end of the first steel pipe is connected with the front swing oil cylinder, one end of the first rotating shaft is inserted into the other end of the first steel pipe, and the other end of the first rotating shaft is fixedly connected with the grabbing device.
Preferably, the second connecting rod comprises a second steel pipe and a second rotating shaft, one end of the second steel pipe is connected with the rear swing oil cylinder, one end of the second rotating shaft is inserted into the other end of the second steel pipe, and the connecting plate is connected with the first rotating shaft and the second rotating shaft.
Preferably, an oil cylinder base is connected to the lower portion of the rear swing oil cylinder, an extending portion extending outwards is arranged on the oil cylinder base, and a screw hole is formed in the extending portion in a penetrating mode.
Preferably, the support comprises a bottom plate, a vertical plate and a reinforcing plate, a screw hole is formed in the bottom plate in a penetrating mode, the bottom of the vertical plate is connected with the bottom plate, the reinforcing plate is connected with the vertical plate and the bottom plate, the reinforcing plate is perpendicular to the plate surface of the vertical plate, and a through hole for the second connecting rod to penetrate through is formed in the vertical plate in a penetrating mode.
The utility model has the advantages that: the utility model provides a coordinated type arm possesses two grabbing device, two grabbing device linkage motion under the drive of swing hydro-cylinder in the front and back swing hydro-cylinder, can snatch the both ends of the long work piece of length, simple structure, the cost is reduced makes the convenience moreover.
Drawings
Fig. 1 is a schematic structural view of the present invention;
fig. 2 is a top view of the present invention;
FIG. 3 is a schematic structural diagram of a first connecting rod;
FIG. 4 is a schematic structural view of a second connecting rod;
FIG. 5 is a schematic structural view of a cylinder base;
FIG. 6 is a schematic structural view of a pedestal;
FIG. 7 is a schematic structural view of a connecting frame;
wherein: 1. the grabbing device comprises a grabbing device, 2 a front swing oil cylinder, 3 a rear swing oil cylinder, 4 an oil cylinder base, 5 a support, 501 a bottom plate, 502 a vertical plate, 503 a reinforcing plate, 6 a first connecting rod, 601 a first steel pipe, 602 a first rotating shaft, 7 a second connecting rod, 701 a second steel pipe, 702 a second rotating shaft, 8 a connecting plate, 9 a connecting frame, 901 a connecting frame main plate, 902 a bending plate, 903 a side plate, 10 a flange plate and 11 an extending part.
Detailed Description
The present invention will be described in further detail with reference to the following embodiments.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do 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. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1 to 7, the present embodiment provides a linkage type robot arm including a front swing cylinder 2, a rear swing cylinder 3, a support 5, and a gripping device 1.
The gripping device 1 is used for gripping a workpiece. The front swing oil cylinder 2 drives the grabbing device 1 to overturn, and the rear swing oil cylinder 3 drives the front swing oil cylinder 2 to overturn so as to drive the grabbing device 1 to overturn for the second time, so that the purpose of transporting workpieces on the grabbing device 1 is achieved. The reason why the front swing oil cylinder 2 and the rear swing oil cylinder 3 select oil cylinders but not motors is that the workpiece is long in length and heavy in weight, and the torque of the swing oil cylinders is larger than that of the motors, so that the workpiece is easy to turn.
Two ends of the front swing oil cylinder 2 are respectively connected with a first connecting rod 6, and the end part of the first connecting rod 6 is connected with a grabbing device 1. The first connecting rod 6 axially rotates under the action of the front swing oil cylinder 2, so that the grabbing device 1 is driven to overturn. The two grabbing devices 1 are symmetrically arranged on the left side and the right side of the front swing oil cylinder 2 so as to grab the left end and the right end of a workpiece.
And two ends of the rear swing oil cylinder 3 are connected with a second connecting rod 7. The second connecting rod 7 is connected with the first connecting rod 6 through a connecting plate 8. The second connecting rod 7 axially rotates under the action of the rear swing oil cylinder 3, so that the first connecting rod 6 rotates by taking the axis of the second connecting rod 7 as a rotating shaft, the grabbing device 1 moves, and workpieces grabbed by the grabbing device 1 are conveyed. The connecting plate 8 is provided with two through holes, wherein one through hole is used for enabling the end part of the second connecting rod 7 to penetrate through, and the other through hole is sleeved on the first connecting rod 6.
All the cover is equipped with ring flange 10 on head rod 6 and the second connecting rod 7, head rod 6 passes through ring flange 10 and is connected with preceding swing cylinder 2, second connecting rod 7 is connected with back swing cylinder 3 through ring flange 10, so guaranteed the stability of head rod 6 and second connecting plate 7, the two can not rock when the axial rotates, promoted grabbing device 1's stability, avoided two grabbing device 1's asynchronous work piece damage that makes the snatching simultaneously.
The first connecting rod 6 comprises a first steel pipe 601 and a first rotating shaft 602, one end of the first steel pipe 601 is connected with the front swing cylinder 2, one end of the first rotating shaft 602 is inserted into the other end of the first steel pipe 601, and the other end of the first rotating shaft 602 is fixedly connected with the gripping device 1. The second connecting rod 7 comprises a second steel pipe 701 and a second rotating shaft 702, one end of the second steel pipe 701 is connected with the rear swing oil cylinder 3, one end of the second rotating shaft 702 is inserted into the other end of the second steel pipe 701, the connecting plate 8 is connected with the first rotating shaft 602 and the second rotating shaft 702, and the first connecting rod 6 and the second connecting rod 7 are convenient to assemble and disassemble.
The rear swing oil cylinder 3 is fixedly arranged. An oil cylinder base 4 is connected below the rear swing oil cylinder 3. The oil cylinder base 4 is used for bearing the rear swing oil cylinder 3. An extension part 11 extending outwards is arranged on the oil cylinder base 4, and a screw hole is arranged on the extension part 11 in a penetrating way. The cylinder base 4 can be installed on other equipment through the extension part 11.
The function of the support 5 is to support the second connecting rod 7. Because the second connecting rod 7 needs to drive the first connecting rod 6 to move and the grabbing device to move, the bearing force of the second connecting rod 7 is larger than that of the first connecting rod 6, and the stability of the second connecting rod 7 needs to be improved under the action of the support 5. The second connecting rod 7 passes through the support 5. The number of the supports 5 is two, and the supports are arranged symmetrically left and right, and the two supports 5 respectively support a second connecting rod 7.
The support 5 comprises a bottom plate 501, a vertical plate 502 and a reinforcing plate 503, a screw hole is formed in the bottom plate 501 in a penetrating mode, the bottom of the vertical plate 502 is connected with the bottom plate 501, and the reinforcing plate 503 is connected with the vertical plate 502 and the bottom plate 501 and is perpendicular to the plate surface of the vertical plate 502. A through hole for the second connecting rod 7 to pass through is formed in the vertical plate 502. Screw holes are formed in the bottom plate 501 so as to fix the bottom plate 501 on the ground or other devices. The reinforcing plate 503 is used to improve the strength of the entire support 5.
As a further optimization of the above technical solution, in order to further improve the stability of the linkage type mechanical arm, the flange 10 on the second connecting rod 7 is connected with the front swing cylinder 2 through the connecting frame 9.
The connecting frame 9 includes a connecting frame main plate 901, a bending plate 902 and a side plate 903. The connecting frame main board 901 and the bending board 902 are integrated, the bending board 902 is perpendicular to the connecting frame main board 901, and the side board 903 is perpendicular to the connecting frame main board 901 and the bending board 902. The connecting frame main board 901 is connected with the flange 10 on the second connecting rod 7, and the bending plate 902 is connected with the front swing cylinder 2 through bolts.
The grabbing device 1 of this embodiment can choose for use electronic, pneumatic, hydraulic drive clamping jaw, has multiple selection among the prior art, can realize snatch the function can, and this embodiment does not do its structure detailed description.
The above only is the embodiment of the present invention, not limiting the patent scope of the present invention, all of which utilize the equivalent structure or equivalent flow transformation made by the content of the specification of the present invention, or directly or indirectly applied to other related technical fields, all included in the same way in the patent protection scope of the present invention.
Claims (8)
1. The utility model provides a linkage type arm, its characterized in that, including preceding swing hydro-cylinder (2), back swing hydro-cylinder (3) and support (5), the both ends of preceding swing hydro-cylinder (2) are connected with head rod (6) separately, the end connection of head rod (6) has grabbing device (1), two grabbing device (1) symmetry sets up the left and right sides of preceding swing hydro-cylinder (2), the both ends of back swing hydro-cylinder (3) are connected with second connecting rod (7), second connecting rod (7) through connecting plate (8) with head rod (6) are connected, second connecting rod (7) are passed support (5).
2. The linkage type mechanical arm according to claim 1, wherein a flange (10) is sleeved on each of the first connecting rod (6) and the second connecting rod (7), the first connecting rod (6) is connected with the front swing cylinder (2) through the flange (10), and the second connecting rod (7) is connected with the rear swing cylinder (3) through the flange (10).
3. The linkage type mechanical arm as claimed in claim 2, wherein the flange (10) on the second connecting rod (7) is connected with the front swing cylinder (2) through a connecting frame (9).
4. The linkage type mechanical arm according to claim 3, wherein the connecting frame (9) comprises a connecting frame main plate (901), a bending plate (902) and a side plate (903), the connecting frame main plate (901) is integrated with the bending plate (902), the bending plate (902) is perpendicular to the connecting frame main plate (901), the side plate (903) is perpendicular to the connecting frame main plate (901) and the bending plate (902), the connecting frame main plate (901) is connected with a flange plate (10) on the second connecting rod (7), and the bending plate (902) is connected with the front swing cylinder (2) through bolts.
5. The linkage type mechanical arm according to any one of claims 1 to 4, wherein the first connecting rod (6) comprises a first steel pipe (601) and a first rotating shaft (602), one end of the first steel pipe (601) is connected with the front swing cylinder (2), one end of the first rotating shaft (602) is inserted into the other end of the first steel pipe (601), and the other end of the first rotating shaft (602) is fixedly connected with the gripping device (1).
6. The linkage type mechanical arm according to claim 5, wherein the second connecting rod (7) comprises a second steel pipe (701) and a second rotating shaft (702), one end of the second steel pipe (701) is connected with the rear swing cylinder (3), one end of the second rotating shaft (702) is inserted into the other end of the second steel pipe (701), and the connecting plate (8) is connected with the first rotating shaft (602) and the second rotating shaft (702).
7. The linkage type mechanical arm according to claim 1, wherein an oil cylinder base (4) is connected below the rear swing oil cylinder (3), an extension portion (11) extending outwards is arranged on the oil cylinder base (4), and a screw hole is formed in the extension portion (11) in a penetrating mode.
8. The linkage type mechanical arm according to claim 1, wherein the support (5) comprises a bottom plate (501), a vertical plate (502) and a reinforcing plate (503), a screw hole is formed in the bottom plate (501) in a penetrating manner, the bottom of the vertical plate (502) is connected with the bottom plate (501), the reinforcing plate (503) is connected with the vertical plate (502) and the bottom plate (501), the reinforcing plate (503) is perpendicular to the plate surface of the vertical plate (502), and a through hole for the second connecting rod (7) to pass through is formed in the vertical plate (502) in a penetrating manner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020779256.8U CN212218536U (en) | 2020-05-12 | 2020-05-12 | Linkage type mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020779256.8U CN212218536U (en) | 2020-05-12 | 2020-05-12 | Linkage type mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212218536U true CN212218536U (en) | 2020-12-25 |
Family
ID=73925991
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020779256.8U Active CN212218536U (en) | 2020-05-12 | 2020-05-12 | Linkage type mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212218536U (en) |
-
2020
- 2020-05-12 CN CN202020779256.8U patent/CN212218536U/en active Active
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: No. 119, Xinghua Road, high tech Industrial Development Zone, Yangzhou, Jiangsu 225000 Patentee after: Jiangsu Hengjing Intelligent Equipment Co.,Ltd. Address before: NO.119, Xinghua Road, Yangzhou hi tech Industrial Development Zone, Yangzhou City, Jiangsu Province 225000 Patentee before: Yangzhou HENGJING Machinery Co.,Ltd. |