CN107618873A - Can auto lock mechanical arm - Google Patents
Can auto lock mechanical arm Download PDFInfo
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- CN107618873A CN107618873A CN201710704402.3A CN201710704402A CN107618873A CN 107618873 A CN107618873 A CN 107618873A CN 201710704402 A CN201710704402 A CN 201710704402A CN 107618873 A CN107618873 A CN 107618873A
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- groove
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Abstract
The invention discloses it is a kind of can auto lock mechanical arm, it includes：Frame；Rotating mechanism, its base for including being connected with housing slide, the annular swivel base being connected with base bearing, three expansion links being fixedly connected with annular swivel base, first disk, second disk and the column be hinged with three expansion link lower ends；Retaining mechanism, it includes being installed in the sleeve of the first lower disk surface, the cylinder and connector of the sleeve inner that is slidably located in.It between the first disk and cylinder by designing compression spring, so that cylinder promptly carries out auto lock under the elastic force effect of compression spring to corpus unguis, improve the security reliability of the present invention, the different length of three expansion links of regulation can also be passed through, drive inclination of first disk towards all angles, each orientation, so as to drive the rotation of the multiple angles of corpus unguis, realize multiple planes, multiple orientation thing to be grabbed crawl operation completion.
Description
Technical field
The present invention relates to field of mechanical technique.It is more particularly related to it is a kind of can auto lock mechanical arm.
Background technology
Mechanical arm can imitate some holding functions of human hand and arm, object or operation are captured, carried by fixed routine
The automatic pilot of instrument；It can replace the heavy labor of people to realize the mechanization of production and automation, can be in harmful ring
Operated under border to protect personal safety, thus be widely used in the departments such as machine-building, metallurgy, electronics, light industry.
Existing mechanical arm causes in object extremely to be put down to crawl object whole process completely, it is necessary to persistently provide power
Corpus unguis keeps clamp position, once circuit or other failures occur for equipment, corpus unguis just loses the shape body for keeping clamping, causes to capture
Object come off, so as to bring the generation of security incident；Clamp system between each corpus unguis of mechanical arm is insecure, is capturing
During object movement heavier or in irregular shape, object is easily come off between corpus unguis, and unnecessary trouble is brought to industrial construction,
Influence industrial normal operation.
The content of the invention
It is an object of the invention to solve at least the above, and provide the advantages of at least will be described later.
It is a still further object of the present invention to provide it is a kind of can auto lock mechanical arm, it passes through in the first disk and cylinder
Between design compression spring so that cylinder compression spring elastic force effect under to corpus unguis promptly carry out auto lock, improve
The security reliability of the present invention, the length that the present invention can also be different by adjusting three expansion links, drives the first disk direction
The inclination of all angles, each orientation, so as to driving the rotation of the multiple angles of corpus unguis, realize that multiple planes, multiple orientation are treated
Grab the completion of the crawl operation of thing.
In order to realize according to object of the present invention and further advantage, there is provided it is a kind of can auto lock mechanical arm,
It includes：
Frame；
Rotating mechanism, it includes the horizontally disposed base being connected with the housing slide and the base lower surface axle
Hold the horizontally disposed annular swivel base of connection, be evenly distributed on the annular swivel base lower surface is that three be vertically arranged stretch
Contracting bar, upper surface horizontally disposed first disk be hinged with the lower end of three expansion links, it is horizontally set on described first
The second disk below disk and two by first disk connected with second disk be vertically arranged it is vertical
Post；The axis of first disk, the axis of second disk overlap with the axis of the annular swivel base；It is any described flexible
The upper end of bar is fixedly connected with the lower surface of the annular swivel base, and lower end is fixedly connected with the upper surface of first disk, and one
The individual expansion link connects a hydraulic jack, and drives stretching for the expansion link in the vertical direction by the hydraulic jack
Contracting；The upper end of any column is fixedly connected with the lower surface of first disk, lower end and the upper table of second disk
Face is fixedly connected；The lower surface of second disk is connected with multiple corpus unguis, and multiple corpus unguis are with second disk
Axis centered on circumferencial direction of the line along second disk be uniformly distributed, the axle of close second disk of the corpus unguis
The one side of line is provided with rectangular first groove extended along the corpus unguis length direction, and along the corpus unguis width
Two rectangular second grooves of extension, two second grooves are respectively positioned at side where the width of second groove
Both ends；
Retaining mechanism, it includes, and upper end is installed in the sleeve being vertically arranged of first lower disk surface, slip is arranged
The lower ending opening of the sleeve inner hollow cylinder and multiple multiple corpus unguis and the cylinder outer circumference surface are lived
The connector of dynamic connection；The upper bottom surface of the cylinder between first disk and second disk, the cylinder
The diameter of upper bottom surface is less than the diameter of first disk and is more than the diameter of second disk, on the upper bottom surface of the cylinder
Provided with a pair of first through hole, the corresponding column of a first through hole so that the column will can respectively be located at institute
First disk of the top of cylinder upper bottom surface is stated to be fixedly connected with second disk of lower section；The upper bottom surface of the cylinder
It is connected with the lower surface of first disk by the compression spring being vertically arranged, the compression spring and two expansion links
It is non-interference；The corresponding corpus unguis of one connector, any connector include being installed in the outer of the cylinder
Fix bar and one end and the crank of fix bar free end pivot joint, multiple fix bars and the cylinder on periphery
Tie point share a plane and parallel with the cylinder cross section, any fix bar and the folder of the axis of the cylinder
Angle is 60 °, and flexible movable angle scope is 100~150 ° between the fix bar and the crank, the other end and the phase of the crank
It is be hinged in the middle part of a corresponding corpus unguis；
The compression spring and the connector are arranged to：When the compression spring is under natural elongation state, the cylinder
Body and the fix bar are located at downward extreme position, and now, the angle between the fix bar and the crank is minimum value
100 °, the crank applies the thrust towards multiple corpus unguis direction close to each other, while the cylinder to the corpus unguis
Lower circumference wall the extruding force towards direction close to each other also is applied to all corpus unguis so that all pawls
Body is in the state collapsed；The sliding block moves towards close to the direction of first disk, so as to drive cylinder to move up
To extreme position, the compression spring is pressed up to extreme position, and now, second disk is located at the cylinder lower port
Lower section, the cylinder releases the extruding force to all corpus unguis, the cylinder move up drive the fix bar to
Upper movement, the angle between the fix bar and the crank are become larger to 150 ° of maximum, the moving belt of the fix bar
The movement of the crank is moved, the crank applies the pulling force in the direction being located remotely from each other towards multiple corpus unguis to the corpus unguis,
So that all corpus unguis are in the state of expansion.
Preferably, it is described can auto lock mechanical arm, multiple draw frame machines, a corpus unguis is provided with one
The draw frame machine, any draw frame machine include positioned at first inside grooves and put down with the bottom surface of first groove
Capable the first slide plate, the sucker on a surface of multiple remote first grooves for being arranged on first slide plate and setting
The first groove top and second slide plate parallel with first slide plate；First slide plate and first groove
A pair of relative side walls connections, first slide plate can move towards close/bottom surface direction away from first groove；
Second slide plate can block first groove completely, and second slide plate includes the first plate body of the same size and second
Plate body is spliced, and a surface relative with first slide plate for first plate body and second plate body is respectively equipped with one
Individual first sliding block, first slider containment is in second groove and can slide wherein；First plate
Body is away from being equipped with the sponge brush of strip first on the surface of first groove, first sponge brush and a plate body
The one side relative with the second plate body it is parallel and be close to the side of this side；Second plate body is away from described first
The sponge brush of strip second is equipped with the surface of groove, second sponge brush is relative with the first plate body with two plate body
One side is parallel and is close to the side of this side；
First plate body and second plate body towards direction close to each other be moved to extreme position when, formation is located at
The second slide plate above first slide plate simultaneously completely blocks first groove；First plate body and second plate body
When being moved to extreme position towards the direction being located remotely from each other, first plate body and second plate body are located at described first respectively
Groove both sides and not overlapping with first groove.
Preferably, it is described can auto lock mechanical arm, in addition to controller, it is located at the second disk following table
The middle part in face, the controller and first slide plate, first plate body and second plate body, the controller are set
For：When all corpus unguis are towards during direction movement close to each other, the controller controls first plate body and described
Second plate body is moved to extreme position towards the direction being located remotely from each other, and then controls first slide plate away from described first
The direction movement of groove floor so that all suckers protrude from the first groove notch；When all corpus unguis
Towards during the direction movement being located remotely from each other, the controller controls first slide plate towards close to first groove floor
Move in direction so that the sucker is completely accommodated in first groove, then controls first plate body and described second
Plate body is moved to extreme position towards direction close to each other, forms second slide plate and blocks first groove completely.
Preferably, it is described can auto lock mechanical arm, the inwall of the sleeve is provided with a pair symmetrically along it
First chute of axis direction extension, the outer circumference surface of the cylinder are provided with a pair of second sliding blocks, second sliding block
It is contained in first chute and can be slided in first chute, realizes the slip of the cylinder and the sleeve
Connection.
Preferably, it is described can auto lock mechanical arm, the frame is L-shaped structure, and the first of the frame is straight
The arm of angle is vertically arranged, and the second right-angle side is horizontally disposed with, and the first right-angle side is provided with the second chute vertically extended, described
One end of second right-angle side can vertical direction slide be arranged in second chute so that second right-angle side can be relative
The movement of the first right-angle side in the vertical direction.
Preferably, it is described can auto lock mechanical arm, the lower surface of second right-angle side is provided with horizontal direction
3rd chute of extension, the sliding block of upper surface the 3rd of the base, the 3rd slider containment is in the 3rd chute and can
Slided in the 3rd chute, so as to realize being slidably connected for the base and the frame.
Preferably, it is described can auto lock mechanical arm, second right-angle side and the first motor connection, described
One motor drives movement of second right-angle side relative to the first right-angle side in the vertical direction；The base and the second electricity
Machine connects, and second motor drives movement of the base relative to second right-angle side in the horizontal direction；The cylinder
With the 3rd motor connection, the 3rd motor drives the relatively described sleeve of the cylinder to slide.
Preferably, it is described can auto lock mechanical arm, an expansion link is connected with a hydraulic jack, institute
Stating hydraulic jack drives a corresponding expansion link to stretch.
The present invention comprises at least following beneficial effect：
1st, three expansion links are driven flexible by the hydraulic jack each connected respectively, can be by being carried out to three expansion links
The operation of identical height is elongated or shortened simultaneously, adjusts the position of corpus unguis vertical direction, can also be flexible by adjusting three
The different length of bar so that the first disk can be from the horizontal by the inclination of certain angle, so as to drive the crawl of corpus unguis point
More planes, multi-angle are adapted to, the crawl work of the object of multiple angles in multiple planes, annular base and pedestal can be completed
Bearing connects so that annular base can drive the first disk and be connected to turning for the first disk bottom around own axis
The rotation of motivation structure, retaining mechanism and corpus unguis, the placement angle of crawl object can be adjusted；
2nd, when the corpus unguis mutually collapsed runs out of steam, cylinder compression spring can under the active force that its own resilient recovers
Clamping to corpus unguis is automatically locked, and avoids when running out of steam suddenly, and corpus unguis, which opens, causes the object of crawl to come off, and influences industry
Production operation is normally carried out, and results even in the generation of industry security accident, improves the security reliability of the present invention, compresses bullet
Spring, connector and the cylinder mutual cooperation completion auto lock being slidably socketed in sleeve, it is simple in construction, without expending other
The energy provide power, more energy-conserving and environment-protective；
3rd, each corpus unguis is flexibly connected with cylinder by a connector so that cylinder moves up for driving corpus unguis
To open, cylinder moves down the gathering for driving corpus unguis so that opening/gathering that corpus unguis can be freely, connector realize power transmission,
Without providing extra power for opening/gathering of corpus unguis, actuating unit equipment is reduced, reduces industrial machine arm of the present invention certainly
The weight load of body, while reduce production cost；
4th, the one side directly contacted in corpus unguis with holdfast sets and can adsorbed in the sucker with holdfast surface, energy
Clamping dynamics of enough enhancing present invention to object, ensures that object is clamped all the time during transport operation, avoids object
Cause object to depart from between corpus unguis when mechanical arm shakes, rocked under external force, have a strong impact on the normal continuation of operation
Carry out, further improve the security reliability of industrial machine arm of the present invention；And the number setting of sucker is multiple so that object is more
Individual position is further enhanced clamping dynamics by the adsorption of sucker；
5th, have the sucker of strong adsorption effect in the first slide plate slidably to inside rectangular recess, and pass through the first plate
Body and the second plate body one second slide plate parallel with the first slide plate of formation close to each other block, and protect multiple suckers well
From the damage of extraneous factor, avoid sucker from being chronically exposed in outside air and adhere to the magazines such as a large amount of dusts, so as to cause to inhale
The connection of the decrease of attached active force, sucker and the first slide plate can also be designed as it is detachable, can periodically remove sucker progress
Cleaning or the sucker for changing damage, ensure suction-operated of multiple suckers to object strength, a pair of relative sides of the first groove
The slideway extended along its depth direction is set on wall, it is fixed respectively on the relative side of the first a pair of slide plate to be moved in slideway
Projection, so as to realize being slidably connected for the first slide plate and the first groove；
6th, the first sponge brush and the second sponge brush are respectively equipped with the first plate body and the second plate body, when the first plate body and second
When plate body merges to form the second slide plate, the first sponge brush and the second sponge brush contact with each other and are close to and in the second slide plate
Portion, when the first plate body and the second plate body slide towards the direction being located remotely from each other, drive the first sponge brush and the second sponge brush court
The direction movement being located remotely from each other, the dust on the outer surface corresponding with the first groove of object to be grabbed, impurity can be wiped
Wipe totally, the absorption dynamics between sucker and thing to be grabbed is stronger.
Further advantage, target and the feature of the present invention embodies part by following explanation, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Brief description of the drawings
Fig. 1 be it is of the present invention can auto lock mechanical arm structural representation；
Fig. 2 is the structural representation of base of the present invention；
Fig. 3 is the partial enlarged drawing of A in Fig. 1 of the present invention；
Fig. 4 is the structural representation of corpus unguis of the present invention；
Fig. 5 is the partial enlarged drawing of B in Fig. 4；
Fig. 6 is the structural representation under another state of corpus unguis of the present invention；
Fig. 7 is the partial enlarged drawing of C in Fig. 6.
Embodiment
Below in conjunction with the accompanying drawings and embodiment the present invention is described in further detail, to make those skilled in the art's reference
Specification word can be implemented according to this.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or more
The presence or addition of individual other elements or its combination.
In the description of the invention, term " transverse direction ", " longitudinal direction ", " on ", " under ", "front", "rear", "left", "right", " perpendicular
Directly ", the orientation of the instruction such as " level ", " top ", " bottom ", " interior ", " outer " or position relationship are based on orientation shown in the drawings or position
Relation is put, is for only for ease of and is described of the invention and simplify description, is not that device or the element of instruction or hint meaning are necessary
With specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
As shown in Fig. 1~7, it is a kind of can auto lock mechanical arm, it includes：
Frame；
Rotating mechanism, it includes the horizontally disposed base 2 being connected with the housing slide and the lower surface of base 2
The horizontally disposed annular swivel base 31 of bearing connection, be evenly distributed on the lower surface of annular swivel base 31 is what is be vertically arranged
Three expansion links 32, upper surface horizontally disposed first disk 33 be hinged with the lower end of three expansion links 32, level are set
Put the second disk 43 below first disk 33 and two connect first disk 33 and second disk 43
What is connect is the column 44 being vertically arranged；Axis and the annular of the axis of first disk 33, second disk 43
The axis of swivel base 31 overlaps；The upper end of any expansion link 32 is fixedly connected with the lower surface of the annular swivel base 31, lower end
It is fixedly connected with the upper surface of first disk 33, an expansion link 32 connects a hydraulic jack, and by the liquid
Compressing cylinder drives the flexible of the in the vertical direction of expansion link 32；The upper end of any column 44 and first disk 33
Lower surface be fixedly connected, lower end is fixedly connected with the upper surface of second disk 43；The lower surface of second disk 43
Multiple corpus unguis 45 are connected with, multiple corpus unguis 45 line centered on the axis of second disk 43 is justified along described second
The circumferencial direction of disk 43 is uniformly distributed, and the one side of the axis of close second disk 43 of the corpus unguis 45 is provided with along institute
State the length direction of corpus unguis 45 extension rectangular first groove 451, and along the width of corpus unguis 45 extension it is two long
The second square groove 452, two second grooves 452 are respectively positioned at side where the width of second groove 452
Both ends；
Retaining mechanism, it includes upper end and is installed in the sleeve 34 being vertically arranged of the lower surface of the first disk 33, slides
The hollow cylinder 41 for the lower ending opening being set in inside the sleeve 34 and multiple by multiple corpus unguis 45 and the cylinder
The connector that 41 outer circumference surfaces are flexibly connected；The upper bottom surface of the cylinder 41 is located at first disk 33 and second disk
Between 43, the diameter of the upper bottom surface of the cylinder 41 is less than the diameter of first disk 33 and more than second disk 43
Diameter, the upper bottom surface of the cylinder 41 are provided with a pair of first through hole, and a first through hole corresponds to a column 44,
So that the column 44 will can be located at described in first disk 33 and the lower section of the top of the upper bottom surface of cylinder 41 respectively
Second disk 43 is fixedly connected；The lower surface of the upper bottom surface of the cylinder 41 and first disk 33 passes through the pressure that is vertically arranged
Contracting spring 42 connects, and the compression spring 42 and two expansion links 32 are non-interference；One connector is corresponding one
The corpus unguis 45, any connector include being installed in fix bar 51 on the outer circumference surface of the cylinder 41 and one end with
The tie point of the crank 52 of the free end of fix bar 51 pivot joint, multiple fix bars 51 and the cylinder 41 shares one and put down
Face and parallel with the cross section of cylinder 41, any fix bar 51 and the angle of the axis of the cylinder 41 are 60 °, described
Between fix bar 51 and the crank 52 flexible movable angle scope be 100~150 °, the other end of the crank 52 with it is corresponding
One middle part of corpus unguis 45 is be hinged；
The compression spring 42 and the connector are arranged to：When the compression spring 42 is under natural elongation state, institute
State cylinder 41 and the fix bar 51 is located at downward extreme position, now, between the fix bar 51 and the crank 52
Angle is 100 ° of minimum value, and the crank 52 applies to the corpus unguis 45 towards multiple corpus unguis 45 direction close to each other
Thrust, while the lower circumference wall of the cylinder 41 also applies squeezing towards direction close to each other to all corpus unguis 45
Pressure so that all corpus unguis 45 are in the state collapsed；The sliding block is towards close to the direction of first disk 33
Mobile, so as to drive cylinder 41 to be moved upward to extreme position, the compression spring 42 is pressed up to extreme position, now,
Second disk 43 is located at the lower section of the lower port of cylinder 41, and the cylinder 41 releases squeezing to all corpus unguis 45
Pressure, the cylinder 41, which moves up, drives the fix bar 51 to move up, between the fix bar 51 and the crank 52
Angle become larger to 150 ° of maximum, the movement of the mobile drive crank 52 of the fix bar 51, the crank 52
Apply the pulling force in the direction being located remotely from each other towards multiple corpus unguis 45 to the corpus unguis 45 so that at all corpus unguis 45
In the state of expansion.
In the above-mentioned technical solutions, the present invention is made by designing compression spring 42 between the first disk 33 and cylinder 41
Obtain cylinder 41 and auto lock is promptly carried out to corpus unguis 45 under the elastic force effect of compression spring 42, the safety for improving the present invention can
By property, the present invention can also drive the first disk 33 towards all angles, respectively by the different length of three expansion links 32 of regulation
The inclination in individual orientation, so as to drive the rotation of more than 45 individual angle of corpus unguis, realize multiple planes, multiple orientation thing to be grabbed crawl
The completion of operation.
In another technical solution, it is described can auto lock mechanical arm, multiple draw frame machines, a corpus unguis
45 are provided with a draw frame machine, any draw frame machine include positioned at the inside of the first groove 451 and with it is described
The first parallel slide plate 453 of the bottom surface of first groove 451, multiple it is arranged on the remote described first recessed of first slide plate 453
It is sucker 456 and the setting top of the first groove 451 and parallel with first slide plate 453 on one surface of groove 451
The second slide plate；First slide plate 453 is connected with a pair of relative side walls of first groove 451, and described first
Slide plate 453 can move towards close/bottom surface direction away from first groove 451；Second slide plate can be by described first
Groove 451 blocks completely, and second slide plate is spliced including the plate body 455 of the first plate body 454 and second of the same size, institute
The surface relative with first slide plate 453 for stating the first plate body 454 and second plate body 455 is respectively equipped with one first
Sliding block, first slider containment is in second groove 452 and can slide wherein；First plate body
454 away from being equipped with the first sponge brush of strip 457 on the surface of first groove 451, first sponge brush 457 with
The one side relative with the second plate body 455 of one plate body is parallel and is close to the side of this side；Second plate body 455
Away from being equipped with the second sponge brush of strip 458, second sponge brush 458 and institute on the surface of first groove 451
The one side relative with the first plate body 454 for stating the second plate body 455 is parallel and be close to the side of this side；
First plate body 454 and second plate body 455 towards direction close to each other be moved to extreme position when, shape
Completely blocked into the second slide plate above first slide plate 453 and by first groove 451；First plate body
454 and second plate body 455 towards the direction being located remotely from each other be moved to extreme position when, first plate body 454 and described
Second plate body 455 is respectively positioned at both sides of the first groove 451 and not overlapping with first groove 451.
In another technical solution, it is described can auto lock mechanical arm, in addition to controller, it is positioned at described the
The middle part of the lower surface of two disk 43, the controller and first slide plate 453, first plate body 454 and second plate
Body 455, the controller are arranged to：When all corpus unguis 45 move towards direction close to each other, the controller
First plate body 454 and second plate body 455 is controlled to be moved to extreme position towards the direction being located remotely from each other, then control
First slide plate 453 moves away from the direction of the bottom surface of the first groove 451 so that all suckers 456 are prominent
For the notch of the first groove 451；When all corpus unguis 45 move towards the direction being located remotely from each other, the controller
First slide plate 453 is controlled to be moved towards close to the direction of the bottom surface of the first groove 451 so that the sucker 456 is complete
It is contained in first groove 451, then controls first plate body 454 and second plate body 455 towards close to each other
Direction be moved to extreme position, form second slide plate and block first groove 451 completely.
In another technical solution, it is described can auto lock mechanical arm, the inwall of the sleeve 34 is provided with one
To the first chute symmetrically extended along its axis direction, the outer circumference surface of the cylinder 41 is provided with a pair of second sliding blocks 411,
One second sliding block 411 is contained in first chute and can slided in first chute, described in realization
Cylinder 41 is slidably connected with the sleeve 34.
In another technical solution, it is described can auto lock mechanical arm, the frame is L-shaped structure, the machine
First right-angle side 11 of frame is vertically arranged, and the second right-angle side 12 is horizontally disposed, and the first right-angle side 11, which is provided with, vertically to be prolonged
The second chute 111 stretched, one end of second right-angle side 12 can vertical direction slide be arranged on second chute 111
In so that second right-angle side 12 can be relative to the movement of the in the vertical direction of the first right-angle side 11.
In another technical solution, it is described can auto lock mechanical arm, the lower surface of second right-angle side 12
The 3rd chute 121 provided with horizontal direction extension, the sliding block 21 of upper surface the 3rd of the base 2, the 3rd sliding block 21 accommodate
It can slide in the 3rd chute 121 and in the 3rd chute 121, so as to realize the base 2 and the frame
It is slidably connected.
In another technical solution, it is described can auto lock mechanical arm, the electricity of the second right-angle side 12 and first
Machine connects, and first motor drives the shifting of the relatively described in the vertical direction of first right-angle side 11 of the second right-angle side 12
It is dynamic；The motor connection of base 2 and second, second motor drive relatively described second right-angle side 12 of base 2 in water
Square upward movement；The motor connection of cylinder 41 and the 3rd, the 3rd motor drive the relatively described set of cylinder 41
Cylinder 34 slides.
In another technical solution, it is described can auto lock mechanical arm, an expansion link 32 and a liquid
Compressing cylinder connects, and the hydraulic jack drives a corresponding expansion link 32 flexible.
The workflow of the present invention：Industrial machine arm in an initial condition when, three expansion links 32 are with length and are in
Vertically, retracted mode, now the first disk 33 is level, and multiple corpus unguis 45 are located under the squeezing action of the lower circumferential wall of cylinder 41
In the state mutually collapsed；When needing to capture object, the second right angle is driven by the first motor and the second motor respectively first
Side 12 drives rotating mechanism, the retaining mechanism of the bottom of base 2 in movement and base 2 movement in the horizontal direction of vertical direction
And movement of the corpus unguis 45 on vertically and horizontally, so as to which corpus unguis 45 is moved into object top capture, pass through
The length of three expansion links 32 is adjusted, according to the angle of inclination of the first disk of position adjustments 33 where object to be grabbed, the second circle
Disk 43 is parallel with the plane approximation where thing to be grabbed, and driving cylinder 41 moves towards close to the direction of sleeve 34, releases cylinder 41
Lower circumference wall is to the squeezing action of multiple corpus unguis 45, the effect that all corpus unguis 45 move in the moving belt follower link of cylinder 41
Under be flared to can by thing to be grabbed wrap up degree, by three hydraulic jacks simultaneously drive three expansion links 32 extend it is same
Length so that object to be grabbed is located inside multiple corpus unguis 45, now cancels the pulling force towards the close direction of sleeve 34 to cylinder 41,
Thrust of the driving relative sleeve 34 of cylinder 41 away from the direction of sleeve 34 can be applied according to job requirements simultaneously, cylinder 41 exists
Moved in the presence of its own resilient restoring force of compression spring 42 or/and thrust so that multiple corpus unguis 45 are towards close to each other
Direction movement so that thing to be grabbed wrap up and firmly grasped by corpus unguis 45, the crawl operation for grabbing thing is treated in completion；
In multiple corpus unguis 45 towards while direction movement close to each other, controller controls the first plate body 454 and second
Plate body 455 is moved to extreme position towards the direction being located remotely from each other, in the first plate body 454 and the moving process of the second plate body 455,
The impurity wiped clean on thing surface to be grabbed can be strengthened sucker 456 and thing to be grabbed by the first sponge brush 457 and the second sponge brush 458
Between absorption dynamics, then control the first slide plate 453 to be moved away from the direction of the bottom surface of the first groove 451 so that all
Sucker 456 protrude from the notch of the first groove 451 so that all suckers 456 are firmly adsorbed in the outer surface of thing to be clamped；
When completing after transport, the installment work of thing is grabbed, driving cylinder 41 moves towards close to the direction of sleeve 34, drives
Multiple corpus unguis 45 control the first slide plate 453 recessed towards close first towards the direction movement being located remotely from each other, at the same time controller
The direction movement of the bottom surface of groove 451 so that sucker 456 is completely accommodated in the first groove 451, then controls the He of the first plate body 454
Second plate body 455 is moved to extreme position towards direction close to each other, forms the second slide plate and hides the first groove 451 completely
Gear.
Number of devices and treatment scale described herein are the explanations for simplifying the present invention.To the present invention application,
Modifications and variations will be readily apparent to persons skilled in the art.
Although embodiment of the present invention is disclosed as above, it is not restricted in specification and embodiment listed
With it can be applied to various suitable the field of the invention completely, can be easily for those skilled in the art
Other modification is realized, therefore under the universal limited without departing substantially from claim and equivalency range, it is of the invention and unlimited
In specific details and shown here as the legend with description.
Claims (8)
1. it is a kind of can auto lock mechanical arm, it is characterised in that it includes：
Frame；
Rotating mechanism, it includes the horizontally disposed base being connected with the housing slide and the base lower surface bearing connects
The horizontally disposed annular swivel base that connects, be evenly distributed on the annular swivel base lower surface is that three be vertically arranged are flexible
Bar, upper surface horizontally disposed first disk be hinged with the lower end of three expansion links, it is horizontally set on first circle
What the second disk below disk and two connected first disk with second disk is the column that is vertically arranged；
The axis of first disk, the axis of second disk overlap with the axis of the annular swivel base；Any expansion link
Upper end be fixedly connected with the lower surface of the annular swivel base, lower end is fixedly connected with the upper surface of first disk, one
The expansion link connects a hydraulic jack, and drives the flexible of the expansion link in the vertical direction by the hydraulic jack；
The upper end of any column is fixedly connected with the lower surface of first disk, and lower end and the upper surface of second disk are consolidated
Fixed connection；The lower surface of second disk is connected with multiple corpus unguis, and multiple corpus unguis are with the axle of second disk
Circumferencial direction of the line along second disk is uniformly distributed centered on line, the axis of close second disk of the corpus unguis
One side is provided with rectangular first groove extended along the corpus unguis length direction, and extends along the corpus unguis width
Two rectangular second grooves, two second grooves respectively positioned at second groove width where side two
End；
Retaining mechanism, it includes, and upper end is installed in the sleeve being vertically arranged of first lower disk surface, be slidably located in institute
State the lower ending opening of sleeve inner hollow cylinder and it is multiple by multiple corpus unguis and the cylinder outer circumference surface activity even
The connector connect；The upper bottom surface of the cylinder is between first disk and second disk, the upper bottom of the cylinder
The diameter in face is less than the diameter of first disk and is provided with more than the diameter of second disk, the upper bottom surface of the cylinder
A pair of first through hole, the corresponding column of a first through hole so that the column will can respectively be located at the cylinder
First disk of the top of body upper bottom surface is fixedly connected with second disk of lower section；The upper bottom surface of the cylinder and institute
The lower surface for stating the first disk is connected by the compression spring being vertically arranged, and the compression spring is mutual not with two expansion links
Interference；The corresponding corpus unguis of one connector, any connector include the excircle for being installed in the cylinder
Fix bar and one end and the crank of fix bar free end pivot joint, multiple fix bars and the company of the cylinder on face
Contact shares a plane and parallel with the cylinder cross section, and any fix bar and the angle of the axis of the cylinder are
60 °, between the fix bar and the crank flexible movable angle scope be 100~150 °, the other end of the crank with it is corresponding
The corpus unguis in the middle part of it is be hinged；
The compression spring and the connector are arranged to：When the compression spring is under natural elongation state, the cylinder and
The fix bar is located at downward extreme position, and now, the angle between the fix bar and the crank is 100 ° of minimum value,
The crank applies the thrust towards multiple corpus unguis direction close to each other, while the bottom of the cylinder to the corpus unguis
Circumferential wall also applies the extruding force towards direction close to each other to all corpus unguis so that all corpus unguis are in
The state of gathering；The sliding block moves towards close to the direction of first disk, so as to drive cylinder to be moved upward to the limit
Position, the compression spring are pressed up to extreme position, and now, second disk is located under the cylinder lower port
Side, the cylinder release the extruding force to all corpus unguis, and the cylinder, which moves up, drives the fix bar to moving up
Dynamic, the angle between the fix bar and the crank is become larger to 150 ° of maximum, the mobile drive institute of the fix bar
The movement of crank is stated, the crank applies the pulling force in the direction being located remotely from each other towards multiple corpus unguis to the corpus unguis so that
All corpus unguis are in the state of expansion.
2. as claimed in claim 1 can auto lock mechanical arm, it is characterised in that multiple draw frame machines, a pawl
Body is provided with a draw frame machine, and any draw frame machine includes positioned at first inside grooves and with described first
The first parallel slide plate of the bottom surface of groove, multiple remote first grooves for being arranged on first slide plate a surface on
Sucker and the first groove top is set and second slide plate parallel with first slide plate；First slide plate and institute
A pair of relative side walls connections of the first groove are stated, first slide plate can be towards close/remote first groove
Move in bottom surface direction；Second slide plate can block first groove completely, and second slide plate includes of the same size
First plate body and the second plate body are spliced, one relative with first slide plate of first plate body and second plate body
Surface is respectively equipped with first sliding block, and first slider containment is in second groove and can slide wherein
It is dynamic；First plate body on the surface of first groove away from being equipped with the sponge brush of strip first, first sponge
Brush is parallel with the one side relative with the second plate body of a plate body and is close to the side of this side；The second plate body court
And the sponge brush of strip second be equipped with the surface away from first groove, second sponge brush and two plate body with
The relative one side of first plate body is parallel and is close to the side of this side；
First plate body and second plate body towards direction close to each other be moved to extreme position when, formed positioned at described
The second slide plate above first slide plate simultaneously completely blocks first groove；First plate body and second plate body towards
When the direction being located remotely from each other is moved to extreme position, first plate body and second plate body are located at first groove respectively
Both sides and not overlapping with first groove.
3. as claimed in claim 2 can auto lock mechanical arm, it is characterised in that also including controller, it is positioned at described
The middle part of second lower disk surface, the controller and first slide plate, first plate body and second plate body, it is described
Controller is arranged to：When all corpus unguis are towards during direction movement close to each other, the controller controls described first
Plate body and second plate body are moved to extreme position towards the direction being located remotely from each other, and then control first slide plate towards remote
Move in direction from first groove floor so that all suckers protrude from the first groove notch；When all
The corpus unguis towards during the direction movement being located remotely from each other, the controller controls first slide plate towards close to described first
The direction movement of groove floor so that the sucker is completely accommodated in first groove, then controls first plate body
Extreme position is moved to towards direction close to each other with second plate body, forms second slide plate by first groove
Block completely.
4. as claimed in claim 3 can auto lock mechanical arm, it is characterised in that the inwall of the sleeve be provided with a pair
The first chute symmetrically extended along its axis direction, the outer circumference surface of the cylinder are provided with a pair of second sliding blocks, an institute
The second slider containment is stated in first chute and can be slided in first chute, realize the cylinder with it is described
Sleeve is slidably connected.
5. as claimed in claim 4 can auto lock mechanical arm, it is characterised in that the frame is L-shaped structure, the machine
First right-angle side of frame is vertically arranged, and the second right-angle side is horizontally disposed with, and the first right-angle side is provided with the vertically extended
Two chutes, one end of second right-angle side being arranged in second chute of sliding of vertical direction so that described second
Right-angle side can be relative to the movement of the first right-angle side in the vertical direction.
6. as claimed in claim 5 can auto lock mechanical arm, it is characterised in that the lower surface of second right-angle side is set
There is the 3rd chute that horizontal direction extends, the sliding block of upper surface the 3rd of the base, the 3rd slider containment is in the described 3rd
It can slide in chute and in the 3rd chute, so as to realize being slidably connected for the base and the frame.
7. as claimed in claim 6 can auto lock mechanical arm, it is characterised in that second right-angle side and the first motor
Connection, first motor drive movement of second right-angle side relative to the first right-angle side in the vertical direction；It is described
Base and the second motor connection, second motor drive the shifting of relatively described second right-angle side of base in the horizontal direction
It is dynamic；The cylinder and the 3rd motor connection, the 3rd motor drive the relatively described sleeve of the cylinder to slide.
8. as claimed in claim 7 can auto lock mechanical arm, it is characterised in that an expansion link and a hydraulic pressure
Oil cylinder connects, and the hydraulic jack drives a corresponding expansion link to stretch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710704402.3A CN107618873B (en) | 2017-08-17 | 2017-08-17 | Can automatically lock mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710704402.3A CN107618873B (en) | 2017-08-17 | 2017-08-17 | Can automatically lock mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107618873A true CN107618873A (en) | 2018-01-23 |
| CN107618873B CN107618873B (en) | 2019-05-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710704402.3A Active CN107618873B (en) | 2017-08-17 | 2017-08-17 | Can automatically lock mechanical arm |
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| CN (1) | CN107618873B (en) |
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| CN108145730A (en) * | 2018-02-28 | 2018-06-12 | 浙江机电职业技术学院 | Multi-angle captures gripper and its grasping means |
| CN108544526A (en) * | 2018-07-17 | 2018-09-18 | 哈尔滨理工大学 | A kind of hydraulic-driven heavy-duty machinery hand |
| CN108689141A (en) * | 2018-05-31 | 2018-10-23 | 马婧 | A kind of corrugation paper processing apparatus |
| CN108972598A (en) * | 2018-08-01 | 2018-12-11 | 张树清 | A kind of new energy robot with battery two-used clip |
| CN109048967A (en) * | 2018-10-25 | 2018-12-21 | 赵静 | A kind of manipulator joint |
| CN109514545A (en) * | 2018-11-15 | 2019-03-26 | 詹子勋 | A kind of multifunction flexible manipulator |
| CN112471567A (en) * | 2020-11-27 | 2021-03-12 | 山东农业工程学院 | Circulating bird's nest unhairing device and method |
| CN113172583A (en) * | 2021-05-31 | 2021-07-27 | 西南医科大学附属中医医院 | Heparin cap screwing device |
| CN113333049A (en) * | 2021-05-13 | 2021-09-03 | 北京戴纳实验科技有限公司 | Multidimensional manipulator for laboratory |
| CN115343367A (en) * | 2021-05-12 | 2022-11-15 | 中移(成都)信息通信科技有限公司 | Clamping equipment |
| WO2023272822A1 (en) * | 2021-06-29 | 2023-01-05 | 南京昱晟机器人科技有限公司 | Special-shaped workpiece grabbing device, and grabbing method therefor |
| CN116354125A (en) * | 2022-12-15 | 2023-06-30 | 青岛三信包装科技有限公司 | Folding plate stacking and unstacking integrated machine |
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| CN115343367A (en) * | 2021-05-12 | 2022-11-15 | 中移(成都)信息通信科技有限公司 | Clamping equipment |
| CN113333049A (en) * | 2021-05-13 | 2021-09-03 | 北京戴纳实验科技有限公司 | Multidimensional manipulator for laboratory |
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| WO2023272822A1 (en) * | 2021-06-29 | 2023-01-05 | 南京昱晟机器人科技有限公司 | Special-shaped workpiece grabbing device, and grabbing method therefor |
| CN116354125A (en) * | 2022-12-15 | 2023-06-30 | 青岛三信包装科技有限公司 | Folding plate stacking and unstacking integrated machine |
| CN116354125B (en) * | 2022-12-15 | 2023-12-26 | 青岛三信包装科技有限公司 | Folding plate stacking and unstacking integrated machine |
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