CN215356168U - Metallurgical moulding arm of using - Google Patents
Metallurgical moulding arm of using Download PDFInfo
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- CN215356168U CN215356168U CN202120057997.XU CN202120057997U CN215356168U CN 215356168 U CN215356168 U CN 215356168U CN 202120057997 U CN202120057997 U CN 202120057997U CN 215356168 U CN215356168 U CN 215356168U
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Abstract
The utility model relates to a mechanical arm for metallurgical shaping, which mainly comprises a support, a first rotary joint and a second rotary joint, wherein one end of the first rotary joint is hinged with the support, the other end of the first rotary joint is hinged with one end of the second rotary joint, a first gear and rack motor is arranged on the lower side of the first rotary joint, the fixed end of the first gear and rack motor is connected with the support, and the movable end of the first gear and rack motor is connected with a joint connecting rod arranged below the upper end of the first rotary joint; the upside of first rotary joint is provided with second gear rack motor, the stiff end of second gear rack motor is connected with the joint connecting rod of installing in first rotary joint top, and the expansion end links to each other with the joint connecting rod of installing at the second rotary joint tail end the manipulator is installed to the head of second rotary joint, the manipulator realizes snatching of part. Through the operation of the mechanical arm, the motion state of the mechanical arm can be accurately determined, and the metallurgical raw material can be accurately grabbed.
Description
Technical Field
The utility model relates to a mechanical arm for metallurgical shaping. Belongs to the field of powder metallurgy forming.
Background
Powder metallurgy forming is a special part forming process, and particularly, metallurgical raw material powder is pressed into part equipment with various required shapes through a powder forming press. The powder forming press is a device for powder metallurgy press forming, and the powder forming press is required to clamp parts in various shapes in the whole process flow by using a mechanical arm chuck in the metallurgy forming process.
However, the existing clamping head structure can only ensure stable clamping of parts with regular shapes due to the specific clamping mode and structure, can not clamp parts with special irregular shapes, has a limited practical range, and can not meet the clamping requirements of the existing various parts in compression molding.
SUMMERY OF THE UTILITY MODEL
The technical problem to be solved by the utility model is to provide the mechanical arm for metallurgical shaping aiming at the prior art, so that the metallurgical raw materials can be accurately grabbed and classified.
The technical scheme adopted by the utility model for solving the problems is as follows: a mechanical arm for metallurgical shaping mainly comprises a support, a first rotary joint and a second rotary joint, wherein one end of the first rotary joint is hinged to the support, the other end of the first rotary joint is hinged to one end of the second rotary joint, a first gear and rack motor is mounted on the lower side of the first rotary joint, the fixed end of the first gear and rack motor is connected with the support, the movable end of the first gear and rack motor is connected with a joint connecting rod mounted below the upper end of the first rotary joint, and the first rotary joint is rotated under the action of the first gear and rack motor;
the upside of first rotary joint is provided with second gear rack motor, the stiff end of second gear rack motor is connected with the joint connecting rod of installing in first rotary joint top, and the expansion end links to each other with the joint connecting rod of installing at the second rotary joint tail end, realizes the rotation of second rotary joint through the effect of second gear rack motor the manipulator is installed to the head of second rotary joint, the manipulator realizes snatching of part.
Preferably, the manipulator includes driving motor, fixed frame and a pair of jack catch that top-down set gradually, a pair of jack catch symmetrical arrangement and fixed frame below, every jack catch through two parallel arrangement's connecting rod and fixed frame rotatable coupling, be provided with the reduction gear on driving motor's the output be provided with a transmission lead screw with reduction gear output shaft connection in the middle of the fixed frame, be provided with the transmission slider on the transmission lead screw, transmission slider bilateral symmetry is provided with the pull rod, and two pull rods are articulated with the connecting rod of both sides respectively.
Preferably, a limiting mechanism is arranged on the second rotary joint and connected with the manipulator for controlling the opening and closing angle of the manipulator, the limiting mechanism comprises a horizontal umbrella-shaped gear installed on an output shaft of the speed reducer, vertical umbrella-shaped gears meshed with each other are installed on two sides of the horizontal umbrella-shaped gear, a driving roller is connected to the outer side of the vertical umbrella-shaped gear, and the driving roller is connected with a driven roller installed on the other side of the second rotary joint through a belt.
Preferably, a motion sensor is arranged on the driven roller, the driving roller and the driven roller are one-way rollers with torsion springs, and the opening and closing angle of the jaws is monitored and controlled through the motion sensor.
Preferably, a wrist shaft sensor and an angle sensor are mounted inside the first gear rack motor and the second gear rack motor, and are used for measuring the rotating angle, the pulling force and the direction of the motors.
Preferably, a rotating toothed disc is mounted below the support for controlling the rotation of the entire mechanical arm, and an angle sensor is mounted on the rotating toothed disc.
Compared with the prior art, the utility model has the advantages that:
in the mechanical arm provided by the utility model, the gear rack motor can control the axial and radial movement of the mechanical arm, and the mechanical arm has four degrees of freedom and can flexibly adjust the spatial position of the mechanical arm. Through the operation of the mechanical arm, the motion state of the mechanical arm can be accurately determined, and the metallurgical raw material can be accurately grabbed. The size and the structure of the robot are different from those of the traditional mechanical arm, and the robot can meet the requirement of automatic production.
Drawings
FIG. 1 is a schematic structural view of a metallurgical shaping robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a robot in an embodiment of the present invention.
In the figure: the device comprises a support 1, a first rotary joint 2, a second rotary joint 3, a first gear and rack motor 4, a joint connecting rod 5, a second gear and rack motor 6, a manipulator 7, a driving motor 7.1, a fixed frame 7.2, a clamping jaw 7.3, a connecting rod 7.4, a horizontal umbrella-shaped gear 7.5, a transmission screw rod 7.6, a transmission slide block 7.7, a pull rod 7.8, a speed reducer 7.9, a limiting mechanism 8, a vertical umbrella-shaped gear 8.1, a driving roller 8.2, a driven roller 8.3, a belt 8.4, a motion sensor 8.5 and a rotating fluted disc 9.
Detailed Description
The utility model is described in further detail below with reference to the accompanying examples.
As shown in fig. 1-2, the mechanical arm for metallurgical shaping according to the present embodiment mainly includes a support 1, a first rotary joint 2 and a second rotary joint 3, wherein one end of the first rotary joint 2 is hinged to the support 1, the other end of the first rotary joint is hinged to one end of the second rotary joint 3, a first rack and pinion motor 4 is installed on the lower side of the first rotary joint 2, the fixed end of the first rack and pinion motor 4 is connected to the support 1, the movable end of the first rack and pinion motor 4 is connected to a joint connecting rod 5 installed below the upper end of the first rotary joint 2, and the first rotary joint 2 is rotated under the action of the first rack and pinion motor 4;
the upside of first rotary joint 2 is provided with second gear rack motor 6, the stiff end of second gear rack motor 6 is connected with the joint connecting rod 5 of installing in first rotary joint 2 top, and the expansion end links to each other with the joint connecting rod 5 of installing at 3 tail ends of second rotary joint, realizes the rotation of second rotary joint 3 through the effect of second gear rack motor 6 manipulator 7 is installed to the head of second rotary joint 3, manipulator 7 realizes snatching of part.
The manipulator 7 comprises a driving motor 7.1, a fixed frame 7.2 and a pair of clamping jaws 7.3 which are sequentially arranged from top to bottom, the pair of clamping jaws 7.3 are symmetrically arranged below the fixed frame 7.2, each clamping jaw 7.3 is rotatably connected with the fixed frame 7.2 through two connecting rods 7.4 which are arranged in parallel, a speed reducer 7.9 is arranged at the output end of the driving motor 7.1, a horizontal umbrella-shaped gear 7.5 is arranged on an output shaft of the speed reducer 7.9, the horizontal umbrella-shaped gear 7.5 is rotatably connected with the fixed frame 7.2 relatively, a transmission screw 7.6 connected with the output shaft of the speed reducer 7.9 is arranged in the middle of the fixed frame 7.2, a transmission slide block 7.7 is arranged on the transmission screw 7.6, pull rods 7.8 are symmetrically arranged on two sides of the transmission slide block 7.7, and the two pull rods 7.8 are respectively hinged with the connecting rods 7.4 on two sides. The driving screw 7.6 is driven to rotate by the driving motor 7.1 and the speed reducer 7.4, so that the driving slide block 7.7 moves up and down along the driving screw 7.6, and then the connecting rods 7.4 at two sides are pulled by the pull rod 7.8, so that the opening and the meshing of the pair of clamping jaws 7.3 are realized, and the grabbing of parts is realized.
In order to control the opening and closing angle of the jaws, a limiting mechanism 8 is arranged on the second rotary joint 3, the limiting mechanism 8 comprises vertical bevel gears 8.1 which are positioned on two sides of a horizontal bevel gear 7.5 and are meshed with each other, an active roller 8.2 is connected to the outer side of the vertical bevel gear 8.1, the active roller 8.2 is connected with a driven roller 8.3 arranged on the other side of the second rotary joint 3 through a belt 8.4, a motion sensor 8.5 is arranged on the driven roller 8.3, the active roller 8.2 and the driven roller 8.3 are provided with one-way rollers with torsion springs, and the opening and closing angle of the jaws is monitored and controlled through the motion sensor 8.5.
Meanwhile, a wrist shaft sensor and an angle sensor are arranged inside the first gear rack motor 4 and the second gear rack motor 6, a rotating fluted disc 9 is arranged below the support 1 and used for controlling the rotation of the whole mechanical arm, and the angle sensor is arranged on the rotating fluted disc 9.
Control principle for arm bending:
when the user rotates the arm, first rotary joint and second rotary joint rotate under the rotation of first rack and pinion motor and second rack and pinion motor, install the pulling force of the inside wrist axle sensor perception motor of rack and pinion motor is installed the inside angle sensor perception angle change numerical value of rack and pinion motor can judge the direction of rotation and the size of the turning force of arm according to the tensile size and the numerical value of angle change.
Control principle for the rotation of the mechanical arm:
when the user rotates the arm, the angle sensor can sense the angle of the arm rotation, and the support motor rotates a certain angle according to the angle data of the sensor to drive the support to rotate a certain angle.
The technical solutions described above only represent the preferred technical solutions of the present invention, and some possible modifications to some parts of the technical solutions by those skilled in the art all represent the principles of the present invention, and fall within the protection scope of the present invention.
In addition to the above embodiments, the present invention also includes other embodiments, and any technical solutions formed by equivalent transformation or equivalent replacement should fall within the scope of the claims of the present invention.
Claims (6)
1. The utility model provides a metallurgical moulding arm of using which characterized in that: the device mainly comprises a support, a first rotary joint and a second rotary joint, wherein one end of the first rotary joint is hinged with the support, the other end of the first rotary joint is hinged with one end of the second rotary joint, a first gear and rack motor is arranged on the lower side of the first rotary joint, the fixed end of the first gear and rack motor is connected with the support, the movable end of the first gear and rack motor is connected with a joint connecting rod arranged below the upper end of the first rotary joint, and the first rotary joint rotates under the action of the first gear and rack motor;
the upside of first rotary joint is provided with second gear rack motor, the stiff end of second gear rack motor is connected with the joint connecting rod of installing in first rotary joint top, and the expansion end links to each other with the joint connecting rod of installing at the second rotary joint tail end, realizes the rotation of second rotary joint through the effect of second gear rack motor the manipulator is installed to the head of second rotary joint, the manipulator realizes snatching of part.
2. The metallurgical shaping robot arm of claim 1, wherein: the manipulator comprises a driving motor, a fixed frame and a pair of clamping jaws, wherein the driving motor, the fixed frame and the pair of clamping jaws are sequentially arranged from top to bottom, the pair of clamping jaws are symmetrically arranged below the fixed frame, each clamping jaw is rotatably connected with the fixed frame through two connecting rods which are arranged in parallel, a speed reducer is arranged at the output end of the driving motor, a transmission lead screw connected with an output shaft of the speed reducer is arranged in the middle of the fixed frame, a transmission slide block is arranged on the transmission lead screw, pull rods are symmetrically arranged on two sides of the transmission slide block, and the two pull rods are respectively hinged to the connecting rods on two sides.
3. The metallurgical shaping robot of claim 2, wherein: be provided with stop gear on the second rotary joint, stop gear is connected with the manipulator for the angle that opens and shuts of control manipulator, stop gear is including installing the horizontal umbrella type gear on the reduction gear output shaft horizontal umbrella type gear both sides are installed intermeshing's vertical umbrella type gear the outside of vertical umbrella type gear is connected with the initiative running roller, the initiative running roller passes through the belt with the passive running roller of installing at second rotary joint opposite side and is connected.
4. The metallurgical shaping robotic arm of claim 3, wherein: the driven roller is provided with a motion sensor, the driving roller and the driven roller are one-way rollers with torsion springs, and the opening and closing angle of the clamping jaws is monitored and controlled through the motion sensor.
5. The metallurgical shaping robot arm of claim 1, wherein: the wrist shaft sensor and the angle sensor are mounted inside the first gear rack motor and the second gear rack motor and used for measuring the rotating angle, the pulling force and the direction of the motors.
6. The metallurgical shaping robot arm of claim 1, wherein: and a rotating fluted disc is arranged below the support and used for controlling the rotation of the whole mechanical arm, and an angle sensor is arranged on the rotating fluted disc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120057997.XU CN215356168U (en) | 2021-01-11 | 2021-01-11 | Metallurgical moulding arm of using |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120057997.XU CN215356168U (en) | 2021-01-11 | 2021-01-11 | Metallurgical moulding arm of using |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215356168U true CN215356168U (en) | 2021-12-31 |
Family
ID=79620782
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120057997.XU Active CN215356168U (en) | 2021-01-11 | 2021-01-11 | Metallurgical moulding arm of using |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215356168U (en) |
-
2021
- 2021-01-11 CN CN202120057997.XU patent/CN215356168U/en active Active
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