CN101537612B - Crank block type mechanism arm - Google Patents
Crank block type mechanism arm Download PDFInfo
- Publication number
- CN101537612B CN101537612B CN2009100112985A CN200910011298A CN101537612B CN 101537612 B CN101537612 B CN 101537612B CN 2009100112985 A CN2009100112985 A CN 2009100112985A CN 200910011298 A CN200910011298 A CN 200910011298A CN 101537612 B CN101537612 B CN 101537612B
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- arm
- supporting plate
- extracting device
- block type
- type mechanism
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Abstract
The invention discloses a mechanism arm, in particular to a crank block type mechanism arm of a robot for transmitting workpieces among vacuum chambers of vacuum filming equipment. The structure is as follows: a supporting plate is arranged on a hollow shaft; a roll ball track is arranged on the end part of the supporting plate; a vertical shaft positioned on the lower part of a dead center extracting device is matched with a circular hole of the supporting plate in a sliding way, a slide block, an arm lever seat and an arm lever which can slide on the roll ball track are connected together, a connecting bar is connected with the arm lever, one end of a pendulum bar is fixedly connected with a main shaft, the other end of the pendulum bar is articulated with the connecting bar, the connecting bar is provided with a concave-shaped guiding groove which is matched with a shifting pin positioned on the dead center extracting device, and the front end of the arm lever is provided with a mechanical hand. The invention has the advantages of simple structure, little using materials, small occupying motion space, convenient processing and manufacture, stable property, high reliability, maintenance free and high practicability, can obviously reduce the manufacturing and using cost of the equipment and can also be applied to other fields except the vacuum filming equipment.
Description
Technical field
The present invention relates to a kind of mechanical arm, particularly relate to a kind of crank block type mechanism arm of between each vacuum of vacuum coating equipment is stopped up, finishing the robot that transmits workpiece.
Background technology
The mechanical arm of finishing the robot that transmits workpiece between each vacuum of vacuum coating equipment is stopped up has multiple frame mode.The mechanical arm that has cylinder or a hydraulic cylinder transmission will the heavy damage vacuum environment because of its inevitable micro-leakage, so can not adopt in vacuum is stopped up.The mechanical arm of also useful gear, tooth bar transmission, because of service wear under the unlubricated state of high vacuum very fast, must be very high economical inadequately because of machining accuracy again, so this kind mechanical arm also seldom uses.What current use was more is a kind of mechanical arm that is made of gear, connecting rod, and its serviceability is better, but the requirement on machining accuracy height, to consume metal material many, economical inadequately.Particularly its motion requisite space is bigger, must the square flap valve of port greatly be arranged supporting use.And this kind flap valve is much higher than the cost of common push-pull valve, thereby has further improved equipment manufacturing cost.The crank block type mechanism arm mechanism that a kind of crank and connecting rod are isometric and the band protection is supported is arranged, as shown in Figure 4; When crank 18 goes to position vertically upward, this is this mechanism kinematic undefined position, and the straight pin on the connecting rod 5 enters in the supporting, makes slide block 2 to left movement; When crank 18 when axle turns round, the motion of connecting rod 5 is equivalent to fixed with it circle and does nonslipping rolling along fixed circle, slide block 2 is realized simple harmonic motions.Mechanical arm serviceability by this principle design is good, but its deficiency is arranged.First: connecting rod 5 must be the twice of fork length, and simultaneously, the also corresponding lengthening twice of supporting plate has increased material usage and processing charges.Second: because the radius of gyration of supporting plate has strengthened one times, excessive taken the confined space that vacuum is stopped up, thereby caused when other functional part is set difficultly, had to strengthen vacuum sometimes and stop up diameter and select bigger vavuum pump for use.This can make the corresponding increase of equipment manufacturing cost.
Summary of the invention
Technical problem to be solved by this invention provide a kind of simple in structure, volume is little, take the crank block type mechanism arm that space is little, consumptive material is few, cost is low, reliability is high.
In order to solve the problems of the technologies described above, the present invention is achieved through the following technical solutions.
Crank block type mechanism arm, its structure is as follows: supporting plate is installed on the hollow shaft, ball orbit is installed in the end of supporting plate, the vertical shaft cunning of extracting device bottom, dead point is assigned in the circular hole of supporting plate, the slide block that can on ball orbit, slide, the arm pole socket, the arm bar links together, connecting rod is connected with the arm bar, fork one end is consolidated in the other end and rod hinge connection on the main shaft, the first fan tooth on the fork second fan tooth and the dead point extracting device is complementary, connecting rod be provided with the dead point extracting device on the spill guiding groove of finger coupling, at the front end of arm bar manipulator is set.
Ball orbit on the described supporting plate is parallel with the arm bar.
The described second fan tooth is cemented in the middle part of fork lower surface.
Described dead point extracting device is to be made of finger, finger plate, column, the first fan tooth, locking nut, and finger, finger plate, column, the first fan tooth are fixedly connected, and the first fan tooth is cemented in below the column, and locking nut is threaded with column.
Described hollow shaft is concentric with main shaft.
Described connecting rod and arm bar are hinged.
Described connecting rod and arm pole socket are hinged.
Advantage of the present invention and effect are as follows:
The present invention is simple in structure, few with material, take that space is little, convenient processing and manufacture, can significantly reduce device fabrication and use cost; Its stable performance, reliability height can be non-maintaining, and be practical.The present invention also can be applied to other field except that vacuum coating equipment.
Description of drawings
Fig. 1 is a crank block type mechanism arm extended configuration plan structure schematic diagram of the present invention.
Fig. 2 is a crank block type mechanism arm retracted mode plan structure schematic diagram of the present invention.
Fig. 3 is Fig. 2 E-E sectional structure schematic diagram.
Fig. 4 is an existing crank and connecting rod is isometric and the crank block mechanical arm operation principle schematic diagram of band protection supporting.
Among the figure, 1, ball orbit, 2, slide block, 3, the arm pole socket, 4, arm bar, 5, connecting rod, 6, pull pin, 7, the plate of pulling pin, 8, column, 9, the first fan tooth, 10, supporting plate, 11, locking nut, 12, fork, 13, the second fan tooth, 14, hollow shaft, 15 main shafts, 16, vertical shaft, 17, the dead point extracting device, 18, crank, 19, manipulator, 20, the spill guiding groove.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described in further details, but protection scope of the present invention is not limit by embodiment.
As shown in Figure 1-Figure 3, structure of the present invention is as follows: supporting plate 10 is installed on the hollow shaft 14, ball orbit 1 is installed in the end of supporting plate 10, vertical shaft 16 sliding being assigned in the circular hole of supporting plate 10 of dead point extracting device 17 bottoms, the slide block 2 that can on ball orbit 1, slide, arm pole socket 3, arm bar 4 links together, connecting rod 5 is connected with arm bar 4, it is hinged that fork 12 1 ends are consolidated on the main shaft 15 other end and connecting rod 5, the first fan tooth 9 on the fork 12 second fan tooth 13 and the dead point extracting device 17 is complementary, connecting rod 5 be provided with dead point extracting device 17 on the spill guiding groove 20 of finger 6 coupling, at the front end of arm bar 4 manipulator 19 is set.
The present invention is made up of two parts as mentioned above.First, the slider-crank mechanism that is made of supporting plate 10, ball orbit 1, slide block 2, arm bar 3, fork 12, connecting rod 5 is formed the arm of mechanical arm.Provide its concrete structure and size below, but this can not be used to limit protection scope of the present invention.Each scantling of arm that slider-crank mechanism is formed mechanical arm is: AB=BC=AD; The axle center and the fork centre of gyration A of circular arm bar 4 coincide in vertical plane; It is parallel and place the outside of centre of gyration A to be consolidated in ball orbit 1 and arm bar 4 on the supporting plate 10, and its eccentric throw is got minimum of a value according to the concrete size of member; With the A point is the centre of gyration, and the pitch diameter that is cemented in the fan of second below fork tooth 13 is 1.5 times of AB length; The number of teeth of the second fan tooth 13 equals the first fan tooth, 9 numbers of teeth and subtracts 1; Connecting rod 5 upper surface middle part are processed with the spill guiding groove 20 that is associated with finger 6 on the dead point extracting device 17, and the center of arc of spill guiding groove 20 places the BC mid point.Second portion: constitute dead point extracting device 17 by finger 6, finger plate 7, column 8, the first fan tooth 9, locking nut 11.It is to be the centre of gyration with the D point, and the pitch diameters that are cemented in the first fan tooth 9 below the column 8 are 0.5 times of AB distance; The centre-to-centre spacing of finger center and centre of gyration D is 0.5 times of AB distance.
Operation principle of the present invention is as follows: the supporting plate 10 that connects firmly on trunk portion of robot hollow shaft 14 can turn round 360 ° around central point A, and drives rotation synchronously together such as ball orbit, arm bar, Pai bar, connecting rod by supporting plate.Can control mechanical arm as required stops at any angle on the position.When hollow shaft 14 braking maintains static, during drive shaft 15 rotations, the fork that drive is connected firmly its upper end rotates, and drives slide block and the arm bar moves to left by connecting rod.When fork goes to the C point when overlapping with the A point, the finger on the extracting device has entered in the spill guiding groove on the connecting rod, and first on the fan of second on fork tooth and the extracting device fanned tooth and be in engagement.Fork continuation rotation, the fan of second on it tooth relatively rotates extracting device by the fan of first on extracting device tooth, and the finger on the extracting device forces connecting rod drive slide block to move to left and leaves dead point A continuation reach smoothly.Identical therewith during the backstroke motion.
Mechanical arm of the present invention is driven by two concentric axles, main shaft 15 also in the same way, rotated synchronously when hollow shaft 14 rotated, hollow shaft then maintained static when main shaft 15 rotated, hollow shaft 14 is that existing robot trunk partly drives very conventional prior art with the driving of main shaft 15, disclosed by the invention is the mechanical arm part, is not described in detail the drive part of robot.Ball orbit connects firmly on supporting plate 10 left ends, and slide block 2, arm pole socket 3, arm bar 4 connect firmly together, can make linear slide on ball orbit.Fork 12 1 ends are consolidated on the main shaft 15, and the other end and connecting rod 5 are hinged, and the other end of connecting rod 5 and arm pole socket and arm bar are hinged.Connecting firmly the second fan tooth at the middle part of fork lower surface.Be fixedly connected and form the dead point extracting device by finger 6, finger plate 7, column 8, the first fan tooth 9.The vertical shaft 16 of extracting device bottom, dead point is slided and is assigned in the supporting plate 10 corresponding circular holes, and adjusts the elasticity that vertical shafts rotate with locking nut 11.The manipulator that can connect various structures foremost as required at arm bar 4.All members of the present invention are because of in high vacuum environment work, so all use the manufacturing of the special-purpose high-quality stainless steel of vacuum.If under the normal atmospheric environment, use, can select other material manufacturing.
Claims (6)
1. crank block type mechanism arm, it is characterized in that structure is as follows: supporting plate (10) is installed on the hollow shaft (14), ball orbit (1) is installed in the end of supporting plate (10), the vertical shaft (16) of dead point extracting device (17) bottom is sliding to be assigned in the circular hole of supporting plate (10), the slide block that can on ball orbit, slide (2), arm pole socket (3), arm bar (4) links together, connecting rod (5) is connected with arm bar (4), fork (12) one ends are consolidated on the main shaft (15), the other end and connecting rod (5) are hinged, the first fan tooth (9) on the fork (12) second fan tooth (13) and the dead point extracting device (17) is complementary, connecting rod (5) be provided with dead point extracting device (17) on the spill guiding groove (20) of finger (6) coupling, at the front end of arm bar (4) manipulator (19) is set.
2. crank block type mechanism arm according to claim 1 is characterized in that the ball orbit (1) on the described supporting plate (10) is parallel with arm bar (4).
3. crank block type mechanism arm according to claim 1 is characterized in that the described second fan tooth (13) is cemented in the middle part of fork (12) lower surface.
4. crank block type mechanism arm according to claim 1, it is characterized in that described dead point extracting device (17) is to be made of finger (6), finger plate (7), column (8), the first fan tooth (9), locking nut (11), finger (6), finger plate (7), column (8), the first fan tooth (9) are fixedly connected, the first fan tooth (9) is cemented in below the column (8), and locking nut (11) is threaded with column (8).
5. crank block type mechanism arm according to claim 1 is characterized in that described hollow shaft (14) is concentric with main shaft (15).
6. crank block type mechanism arm according to claim 1 is characterized in that described connecting rod (5) and arm bar (4) are hinged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100112985A CN101537612B (en) | 2009-04-27 | 2009-04-27 | Crank block type mechanism arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100112985A CN101537612B (en) | 2009-04-27 | 2009-04-27 | Crank block type mechanism arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101537612A CN101537612A (en) | 2009-09-23 |
| CN101537612B true CN101537612B (en) | 2010-12-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009100112985A Expired - Fee Related CN101537612B (en) | 2009-04-27 | 2009-04-27 | Crank block type mechanism arm |
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| Country | Link |
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| CN (1) | CN101537612B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102442529A (en) * | 2011-09-28 | 2012-05-09 | 沈阳慧宇真空技术有限公司 | Follow-up transmission mechanism for conveying cleaning electrodes in international thermonuclear experimental reactor |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102092044B (en) * | 2009-12-10 | 2013-02-06 | 北京北方微电子基地设备工艺研究中心有限责任公司 | Substrate processing system and mechanical arm device thereof |
| CN102166831B (en) * | 2010-12-21 | 2015-04-15 | 南京埃斯顿自动化股份有限公司 | Method for accurately finding upper dead point of crank connecting rod pressing machine |
| CN103522282A (en) * | 2013-10-21 | 2014-01-22 | 北华航天工业学院 | Planar two-DOF parallel robot mechanism |
| CN103522283A (en) * | 2013-10-23 | 2014-01-22 | 北华航天工业学院 | Planar two-DOF parallel translational robot mechanism |
| CN103522286A (en) * | 2013-10-30 | 2014-01-22 | 北华航天工业学院 | Planar vertical two-degree-of-freedom parallel robot mechanism |
| CN103522285A (en) * | 2013-10-30 | 2014-01-22 | 北华航天工业学院 | Planar vertical two-degree-of-freedom parallel translational robot mechanism |
| CN104369178B (en) * | 2014-11-14 | 2016-01-27 | 福建省泉州市第七中学 | A kind of robot with flexible arm |
| CN105836465B (en) * | 2016-06-08 | 2018-03-27 | 盐城工学院 | A kind of feeding device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5236296A (en) * | 1992-01-21 | 1993-08-17 | Storage Technology Corporation | Robotic hand mechanism |
| CN2900102Y (en) * | 2006-05-31 | 2007-05-16 | 天津汉顿包装食品机械厂 | Turning robot device for clipping bag |
| CN101293346A (en) * | 2008-06-13 | 2008-10-29 | 宁波问鼎机器人有限公司 | Shaping apparatus product extracting mechanical arm |
| CN201394835Y (en) * | 2009-04-27 | 2010-02-03 | 辽宁聚智科技发展有限公司 | Crank slipper type mechanical arm |
-
2009
- 2009-04-27 CN CN2009100112985A patent/CN101537612B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5236296A (en) * | 1992-01-21 | 1993-08-17 | Storage Technology Corporation | Robotic hand mechanism |
| CN2900102Y (en) * | 2006-05-31 | 2007-05-16 | 天津汉顿包装食品机械厂 | Turning robot device for clipping bag |
| CN101293346A (en) * | 2008-06-13 | 2008-10-29 | 宁波问鼎机器人有限公司 | Shaping apparatus product extracting mechanical arm |
| CN201394835Y (en) * | 2009-04-27 | 2010-02-03 | 辽宁聚智科技发展有限公司 | Crank slipper type mechanical arm |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102442529A (en) * | 2011-09-28 | 2012-05-09 | 沈阳慧宇真空技术有限公司 | Follow-up transmission mechanism for conveying cleaning electrodes in international thermonuclear experimental reactor |
| CN102442529B (en) * | 2011-09-28 | 2013-07-31 | 沈阳慧宇真空技术有限公司 | Follow-up transmission mechanism for conveying cleaning electrodes in international thermonuclear experimental reactor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101537612A (en) | 2009-09-23 |
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Granted publication date: 20101229 Termination date: 20130427 |