CN203357464U - Single-arm movable type mechanical arm - Google Patents
Single-arm movable type mechanical arm Download PDFInfo
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- CN203357464U CN203357464U CN 201320359675 CN201320359675U CN203357464U CN 203357464 U CN203357464 U CN 203357464U CN 201320359675 CN201320359675 CN 201320359675 CN 201320359675 U CN201320359675 U CN 201320359675U CN 203357464 U CN203357464 U CN 203357464U
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- clamping
- mechanical arm
- arm
- control lever
- contact block
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Abstract
The utility model relates to a single-arm movable type mechanical arm. The single-arm movable type mechanical arm comprises a clamping mechanism body, a control rod, a limiting block, a contact block, a rotary rolling wheel and two clamping arms, wherein the rotary rolling wheel is installed inside the clamping mechanism body and can rotate along an installing shaft, one end of one clamping arm is fixedly connected with the rotary rolling wheel, one end of the other clamping arm is fixedly connected in the clamping mechanism body, and the other end of one clamping arm and the other end of the other clamping arm form the clamping end. A through hole is further arranged in the clamping mechanism body, one end of the control rod penetrates the through hole to be fixedly connected with the contact block, the other end of the control rod is connected with a drive mechanism, one end face of the contact block is an oblique plane, and the drive mechanism forms a control mechanism controlling the oblique plane of the contact block to be away from the rotary rolling wheel or be close to and abut against the rotary rolling wheel. The single-arm movable type mechanical arm can be used for clamping of a clamped object only through rotation of one clamping arm under the condition that the other clamping arm is not required to rotate, and the application range of the mechanical arm is widened.
Description
Technical field
The utility model relates to a kind of single armed active type mechanical arm.
Background technology
For reproduce staff the technique device of function be called manipulator.Manipulator is the part action of imitating staff, realizes the robot apparatus of automatic capturing, carrying or operation by preset sequence, track and requirement.The manipulator of applying in industrial production is called as industry mechanical arm.Industry mechanical arm is the new technology occurred in the automation field in modern age, and has become an important component part in the modern mechanical manufacturing production system, and this development of new techniques is very fast, becomes gradually an emerging subject---manipulator engineering.Manipulator relates to the scientific domains such as mechanics, mechanics, electrical equipment hydraulic technique, automatic control technology, sensor technology and computer technology, is a transsubject complex technology.
Industry mechanical arm is a kind of high-tech automatic producing device grown up nearly decades.Industry mechanical arm is also an important branch of industrial robot.His characteristics are to complete by programming the operation of various expections, on structure and performance, have people and machine advantage separately concurrently, especially are embodied in people's intelligence and adaptability.The ability fulfiled assignment in the accuracy of manipulator operation and environment, have development space widely in the national economy field.
The development of manipulator is because its positive role just is familiar with for people day by day: one, it can the part the replacement manually-operated; Two, it can, according to the requirement of production technology, follow transmission and handling that certain program, time and position complete workpiece; Three, it can operate necessary facility and is welded and assemble, thereby has improved greatly workman's working condition, has improved significantly labor productivity, accelerates to realize the paces of industrial production mechanization and automation.Thereby, be subject to the attention of a lot of countries, drop into a large amount of manpower and materials and study and apply.Especially at high temperature, high pressure, dust, noise and with the occasion of radioactivity and pollution, application more extensive.In China, development was faster also arranged in recent years, and obtained certain effect, be subject to the attention of mechanical industry.
Manipulator is a kind of control object often run in field of industrial automatic control.Manipulator can complete much work, as removes thing, assembling, cutting, spray-painting etc., applies very extensive.In modern industry, the automation in production process has become outstanding theme.The automatization level of all trades and professions is more and more higher, and the modernization job shop often is furnished with manipulator, to enhance productivity, completes that the workman has been difficult to or dangerous work.Clamping device is one of most important part of manipulator, and by clamping device, manipulator could stably, accurately carry out crawl and move operations.The mechanical gripper of manipulator mostly is two clutch types that refer to, the motion mode of grabbing by its hand can be divided into translating type and rotary type.The rotary type hand has been grabbed and can be divided into single fulcrum and two fulcrum rotary type, by method of clamping, can be divided into external clamping and inner bearing type.But, in existing clamping device, be all generally that two mechanical arms rotate gripped object is clamped simultaneously, then move.As application in particular cases of part, two mechanical arms only need a rotation to be clamped gripped object, and another does not need to rotate.
The utility model content
Technical problem to be solved in the utility model is to provide a kind of single armed active type mechanical arm, and this mechanical arm can be used in only needs a rotation to be clamped gripped object, and another does not need the situation of rotating, and has enlarged the range of application of mechanical arm.
The utility model solves the problems of the technologies described above adopted technical scheme: single armed active type mechanical arm, comprise clamping device body, control lever, limited block, contact block, a rotation roller, two clamping arms, rotation roller is arranged on the clamping device body interior and can rotates along installation shaft, one of them clamping arm one end is fixedly connected with rotation roller, one end of another clamping arm is fixedly connected in the clamping device body, and the other end of two clamping arms forms bare terminal end; Also be provided with through hole in the clamping device body, control lever one end is fixedly connected with contact block through through hole, the other end is connected with driving mechanism, an end face of contact block be inclined-plane and driving mechanism form the inclined-plane of controlling contact block away from rotation roller or near and hold the controlling organization of rotation roller.
Further, have on the outer wall of described control lever and protrude the limited block formed, limited block is between through hole and driving mechanism.
Described limited block is the circular ring structure radially protruded along on the outer wall of control lever, or is that several are along radially protruding and equally distributed projection on the outer wall of control lever; Limited block overlaps with the central shaft of through hole, and the end face of limited block outermost end is greater than the radius length of through hole to the control lever central shaft apart from length.
The cross section of described contact block is right-angled trapezium, and control lever one end is fixedly connected with the end face at the place of going to the bottom in the cross section of contact block through through hole.The cross section of contact block is that right-angled trapezium is the processing of being convenient to contact block, in fact, as long as guarantee that the face contact with rolling pulley is inclined-plane, another trapezoidal face is not had to requirement, as expansion, can also be isosceles trapezoid or common trapezoidal.
The angle formed between the hypotenuse of described right-angled trapezium and height is 10 °-20 °.As preferably, the angle formed between the hypotenuse of described right-angled trapezium and height is 18 °.
Be provided with elastic mechanism between described two clamping arms.Described elastic mechanism is spring or spring leaf.
The end face that described bare terminal end contacts with gripped object is provided with anti-skidding burr.The end face that anti-skidding burr bare terminal end contacts with gripped object is set to concavo-convex alternate structure and gets final product, it can be the concavo-convex alternate shape of rule, as waveform, zigzag etc., can be also various irregular shapes, after this anti-skidding burr, can increase the frictional force between mechanical hand bare terminal end and gripped object, preferably resolve gripped object and hold caducous problem.
The beneficial effects of the utility model are:
1, the utility model can be used in only needs a rotation to be clamped gripped object, and another does not need the situation of rotating, and has enlarged the range of application of mechanical arm.
2, between contact block of the present utility model and rotation roller, be rolling friction, frictional force is little, less to the infringement of workpiece, and simple in structure, is convenient to control; Long in order to prevent that driving mechanism from driving the distance that control lever advances, have on the outer wall of control lever and protrude the limited block formed, when control lever advance to certain apart from the time, limited block will be stuck in the position of through hole, make control lever to move on, more accurate to the control of clamping framework bare terminal end.
3, the end face that the utility model contacts with gripped object at bare terminal end is provided with anti-skidding burr, can increase the frictional force between mechanical hand bare terminal end and gripped object, preferably resolves gripped object and holds caducous problem.
The accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the structural representation of the utility model embodiment 2.
Parts title corresponding to number in the figure is: 1-clamping device body, 2-control lever, 3-limited block, 4-contact block, 5-rotation roller, 6-clamping arm, 7-fastening bolt, 8-elastic mechanism, the anti-skidding burr of 9-.
The specific embodiment
Embodiment 1:
As shown in Figure 1, the single armed active type mechanical arm of the present embodiment comprises clamping device body 1, control lever 2, limited block 3, contact block 4, rotation roller 5, two clamping arms 6, rotation roller 5 is arranged on clamping device body 1 inside and can rotates along installation shaft, one of them clamping arm 6 one end is fixedly connected with rotation roller 5, one end of another clamping arm 6 is fixedly connected in clamping device body 1, and the other end of two clamping arms 6 forms bare terminal end; Also be provided with through hole in clamping device body 1, control lever 2 one ends are fixedly connected with contact block 4 through through hole, the other end is connected with driving mechanism, an end face of contact block 4 be inclined-plane and driving mechanism form the inclined-plane of controlling contact block 4 away from rotation roller 5 or near and hold the controlling organization of rotation roller 5.Have on the outer wall of control lever and protrude the limited block 3 formed, limited block 3 is between through hole and driving mechanism; Limited block 3 is the circular ring structure radially protruded along on the outer wall of control lever, or is that several are along radially protruding and equally distributed projection on the outer wall of control lever; Limited block 3 overlaps with the central shaft of through hole, and the end face of limited block 3 outermost end is greater than the radius length of through hole to the control lever central shaft apart from length.
The cross section of described contact block 4 is right-angled trapezium, and control lever 2 one ends are fixedly connected with the end face at the place of going to the bottom in the cross section of contact block 4 through through hole, and the angle formed between the hypotenuse of right-angled trapezium and height is 10 °-30 ° and is preferably 18 °.Test is found, when angle is 18 °, when driving mechanism drives control lever to advance, the most easily drives rotation roller 5 and rotates, and the power output minimum of driving mechanism now.Can play preferably and control mechanical hand.
Be provided with elastic mechanism 8 between described two clamping arms 6, elastic mechanism 8 is spring or spring leaf.
Its course of work of single armed active type machinery of the present embodiment is as follows:
When driving mechanism drive control lever advances, inclined-plane by contact block 4 contacts with rotation roller 5, driving mechanism drives control lever and moves on, the inclined-plane of contact block 4 drives rotation roller 5 and rotates under the effect of frictional force, rotation roller 5 drives close another clamping arm be fixedly installed 6 of bare terminal end that clamping arm 6 rotated and made clamping arm 6, gripped object can be clamped, when contact block 4 moves backward, the elastic force by elastic mechanism makes the bare terminal end of two clamping arms 6 unclamp.Owing to being rolling friction between contact block and rotation roller, frictional force is little, less to the infringement of workpiece, and simple in structure, is convenient to control.Long in order to prevent that driving mechanism from driving the distance that control lever advances, have on the outer wall of control lever and protrude the limited block 3 formed, when control lever advance to certain apart from the time, limited block will be stuck in the position of through hole, make control lever to move on, more accurate to the control of clamping framework bare terminal end.
Embodiment 2:
Shown in Figure 2, the present embodiment is on the basis of embodiment 1, and the end face that bare terminal end contacts with gripped object is provided with anti-skidding burr 9.
As mentioned above, can implement preferably the utility model.
Claims (9)
1. single armed active type mechanical arm, it is characterized in that, comprise clamping device body (1), control lever (2), limited block (3), contact block (4), a rotation roller (5), two clamping arms (6), rotation roller (5) is arranged on clamping device body (1) inside and can rotates along installation shaft, one of them clamping arm (6) one end is fixedly connected with rotation roller (5), one end of another clamping arm (6) is fixedly connected in clamping device body (1), and the other end of two clamping arms (6) forms bare terminal end; The clamping device body also is provided with through hole in (1), control lever (2) one ends are fixedly connected with contact block (4) through through hole, the other end is connected with driving mechanism, an end face of contact block (4) be inclined-plane and driving mechanism form the inclined-plane of controlling contact block (4) away from rotation roller (5) or near and hold the controlling organization of rotation roller (5).
2. single armed active type mechanical arm according to claim 1, is characterized in that, has on the outer wall of described control lever and protrude the limited block (3) formed, and limited block (3) is between through hole and driving mechanism.
3. single armed active type mechanical arm according to claim 2, is characterized in that, described limited block (3) is the circular ring structure radially protruded along on the outer wall of control lever, or be that several are along radially protruding and equally distributed projection on the outer wall of control lever; Limited block (3) overlaps with the central shaft of through hole, and the end face of limited block (3) outermost end is greater than the radius length of through hole to the control lever central shaft apart from length.
4. according to the described single armed active type of claims 1 to 3 any one mechanical arm, it is characterized in that, the cross section of described contact block (4) is right-angled trapezium, and control lever (2) one ends are fixedly connected with the end face at the place of going to the bottom in the cross section of contact block (4) through through hole.
5. single armed active type mechanical arm according to claim 4, is characterized in that, the angle formed between the hypotenuse of described right-angled trapezium and height is 10 °-30 °.
6. single armed active type mechanical arm according to claim 5, is characterized in that, the angle formed between the hypotenuse of described right-angled trapezium and height is 18 °.
7. according to the described single armed active type of claims 1 to 3 any one mechanical arm, it is characterized in that, be provided with elastic mechanism (8) between described two clamping arms (6).
8. single armed active type mechanical arm according to claim 7, is characterized in that, described elastic mechanism (8) is spring or spring leaf.
9. according to the described single armed active type of claims 1 to 3 any one mechanical arm, it is characterized in that, the end face that described bare terminal end contacts with gripped object is provided with anti-skidding burr (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320359675 CN203357464U (en) | 2013-06-23 | 2013-06-23 | Single-arm movable type mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320359675 CN203357464U (en) | 2013-06-23 | 2013-06-23 | Single-arm movable type mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203357464U true CN203357464U (en) | 2013-12-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320359675 Expired - Fee Related CN203357464U (en) | 2013-06-23 | 2013-06-23 | Single-arm movable type mechanical arm |
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| CN (1) | CN203357464U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103433936A (en) * | 2013-06-23 | 2013-12-11 | 四川海普工控技术有限公司 | Industrial mechanical arm with single-arm rotation clamping function |
| CN103817691A (en) * | 2014-03-06 | 2014-05-28 | 深圳先进技术研究院 | Orthodontic instrument preparing robot and manipulator thereof |
| CN104626158A (en) * | 2015-01-27 | 2015-05-20 | 上海爱望自动化设备制造有限公司 | Modified manipulator |
| CN108145731A (en) * | 2017-11-28 | 2018-06-12 | 浙江卓怡纺织有限公司 | A kind of feeding device for tubing |
| CN108827734A (en) * | 2018-08-01 | 2018-11-16 | 南京中电熊猫平板显示科技有限公司 | A kind of sample preparation apparatus and working method |
| CN109820606A (en) * | 2019-02-26 | 2019-05-31 | 谢春 | De- hat device |
-
2013
- 2013-06-23 CN CN 201320359675 patent/CN203357464U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103433936A (en) * | 2013-06-23 | 2013-12-11 | 四川海普工控技术有限公司 | Industrial mechanical arm with single-arm rotation clamping function |
| CN103817691A (en) * | 2014-03-06 | 2014-05-28 | 深圳先进技术研究院 | Orthodontic instrument preparing robot and manipulator thereof |
| CN103817691B (en) * | 2014-03-06 | 2015-06-03 | 深圳先进技术研究院 | Orthodontic instrument preparing robot and manipulator thereof |
| CN104626158A (en) * | 2015-01-27 | 2015-05-20 | 上海爱望自动化设备制造有限公司 | Modified manipulator |
| CN108145731A (en) * | 2017-11-28 | 2018-06-12 | 浙江卓怡纺织有限公司 | A kind of feeding device for tubing |
| CN108827734A (en) * | 2018-08-01 | 2018-11-16 | 南京中电熊猫平板显示科技有限公司 | A kind of sample preparation apparatus and working method |
| CN109820606A (en) * | 2019-02-26 | 2019-05-31 | 谢春 | De- hat device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131225 Termination date: 20140623 |
|
| EXPY | Termination of patent right or utility model |