CN107618873B - Can automatically lock mechanical arm - Google Patents
Can automatically lock mechanical arm Download PDFInfo
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- CN107618873B CN107618873B CN201710704402.3A CN201710704402A CN107618873B CN 107618873 B CN107618873 B CN 107618873B CN 201710704402 A CN201710704402 A CN 201710704402A CN 107618873 B CN107618873 B CN 107618873B
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Abstract
The invention discloses it is a kind of can automatically lock mechanical arm comprising: rack；Rotating mechanism comprising the pedestal that is connect with housing slide, the annular swivel base being connect with pedestal bearing, three telescopic rods being fixedly connected with annular swivel base, first disk, second disk and the column hinged with three telescopic rod lower ends；Retaining mechanism comprising be installed in the cylinder and connector of the sleeve of the first lower disk surface, the sleeve inner that is slidably located in.It is by designing compressed spring between the first disk and cylinder, so that cylinder promptly carries out automatically lock to corpus unguis under the elastic force effect of compressed spring, improve security reliability of the invention, it can also be by adjusting the different length of three telescopic rods, drive the first disk towards the inclination of all angles, each orientation, to drive the rotation of the multiple angles of corpus unguis, the completion of the crawl operation of the object to be grabbed of multiple planes, multiple orientation is realized.
Description
Technical field
The present invention relates to field of mechanical technique.It is more particularly related to it is a kind of can automatically lock mechanical arm.
Background technique
Mechanical arm can imitate certain holding functions of manpower and arm, to by fixed routine crawl, carrying object or operation
The automatic pilot of tool；It can replace the heavy labor of people to realize the mechanization and automation of production, can be in harmful ring
Operation is under border to protect personal safety, thus is widely used in the departments such as machine-building, metallurgy, electronics, light industry.
Existing mechanical arm, to object is put down in whole process completely, needs to continue offer power and makes in crawl object
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 grab
Object fall off, to bring the generation of safety accident；Clamp system between each corpus unguis of mechanical arm is insecure, is grabbing
When object heavier or in irregular shape is mobile, object easily falls off between corpus unguis, brings unnecessary trouble to industrial construction,
Influence industrial normal operation.
Summary of the invention
It is an object of the invention to solve at least the above problems, 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 automatically lock mechanical arm, by the first disk and cylinder
Between design compressed spring so that cylinder compressed spring elastic force effect under to corpus unguis promptly carry out automatically lock, improve
Security reliability of the invention, the present invention can also drive the first disk direction by adjusting the different length of three telescopic rods
The inclination of all angles, each orientation, to drive the rotation of the multiple angles of corpus unguis, realize multiple planes, multiple orientation to
Grab the completion of the crawl operation of object.
In order to realize these purposes and other advantages according to the present invention, provide it is a kind of can automatically lock mechanical arm,
Comprising:
Rack；
Rotating mechanism comprising the horizontally disposed pedestal being connect with the housing slide and the base lower surface axis
The horizontally disposed annular swivel base for holding connection, three be vertically arranged for being evenly distributed on the annular swivel base lower surface stretch
Hinged horizontally disposed first disk in the lower end of contracting bar, upper surface and three telescopic rods is horizontally set on described first
The second disk below disk and two are vertical by being vertically arranged of connecting with second disk of first disk
Column；The axis of first disk, second disk axis be overlapped 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
A telescopic rod connects a hydraulic cylinder, and drives the telescopic rod stretching in the vertical direction by the hydraulic cylinder
Contracting；The upper end of any column is fixedly connected with the lower surface of first disk, the upper table of lower end and 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 be center line be uniformly distributed along the circumferencial direction of second disk, the corpus unguis close to second disk axis
The one side of line is equipped with rectangular first groove extended along the corpus unguis length direction, and along the corpus unguis width direction
Two rectangular second grooves extended, two second grooves are located at side where the width of second groove
Both ends；
Retaining mechanism comprising upper end is installed in the sleeve of first lower disk surface being vertically arranged, sliding is arranged
In the hollow cylinder of the lower ending opening of the sleeve inner and multiple that multiple corpus unguis and the cylinder outer circumference surface is living
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 greater than the diameter of second disk, on the upper bottom surface of the cylinder
Equipped with a pair of of first through hole, the corresponding column of a first through hole, so that the column can will be located at institute
First disk for stating the top of cylinder upper bottom surface is fixedly connected with second disk of lower section；The upper bottom surface of the cylinder
Pass through the compressed spring being vertically arranged with the lower surface of first disk to connect, the compressed spring and three telescopic rods
It is non-interference；The corresponding corpus unguis of one connector, any connector include be installed in the cylinder outer
The crank of fixed link and one end and fixed link free end pivot joint on periphery, multiple fixed links and the cylinder
Tie point share a plane and parallel with the cylinder cross section, the folder of the axis of any fixed link and the cylinder
Angle is 60 °, and flexible movable angle range is 100~150 ° between the fixed link and the crank, the other end and the phase of the crank
It is hinged in the middle part of a corresponding corpus unguis；
The compressed spring and connector setting are as follows: when the compressed spring is under natural elongation state, the cylinder
Body and the fixed link are located at downward extreme position, at this point, the angle between the fixed link 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；Cylinder is moved upward to extreme position, and the compressed spring is pressed up to extreme position, at this point,
Second disk is located at the lower section of the cylinder lower port, and the cylinder releases the extruding force to all corpus unguis, institute
State cylinder and move up and the fixed link is driven to move up, the angle between the fixed link and the crank become larger to
150 ° of maximum value, the movement of the mobile drive crank of the fixed link, the crank applies towards multiple the corpus unguis
The pulling force in the direction that the corpus unguis is located remotely from each other, so that all corpus unguis are in the state of expansion.
Preferably, it is described can automatically lock mechanical arm, multiple draw frame machines, a corpus unguis is equipped with one
The draw frame machine, any draw frame machine include positioned at first inside grooves and flat with the bottom surface of first groove
Capable the first slide plate, multiple suckers being arranged on the surface far from first groove of first slide plate and setting
The second first groove top and parallel with first slide plate slide plate；First slide plate and first groove
A pair of opposite side walls connection, first slide plate can be mobile towards close/bottom surface direction far from first groove；
Second slide plate can block completely first groove, and second slide plate includes the first plate body of the same size and second
Plate body is spliced, and a surface opposite with first slide plate for first plate body and second plate body is respectively equipped with one
A first sliding block, first slider containment is in second groove and can slide wherein；First plate
Body is away from being equipped with the first sponge brush of strip on the surface of first groove, first sponge brush and first plate
The side parallel with the opposite one side of the second plate body and being tightly attached to this side of body；Second plate body is away from described
The second sponge brush of strip is equipped on the surface of one groove, second sponge brush is opposite with the first plate body with two plate body
One side it is parallel and be tightly attached to the side of this side；
When first plate body and second plate body are moved to extreme position towards direction close to each other, 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
Groove both sides and not be overlapped with first groove.
Preferably, it is described can automatically lock mechanical arm, further include controller, be 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 setting
Are as follows: when all corpus unguis are mobile towards direction 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 of groove floor is mobile, so that all suckers protrude from the first groove notch；When all corpus unguis
When mobile towards the direction being located remotely from each other, the controller controls first slide plate towards close to first groove floor
Direction is mobile, 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 automatically lock mechanical arm, the inner wall of the sleeve is equipped with a pair symmetrically along it
The first sliding groove that axis direction extends, the outer circumference surface of the cylinder are equipped with a pair of second sliding block, second sliding block
It is contained in the first sliding groove and can be slided in the first sliding groove, realize the sliding of the cylinder Yu the sleeve
Connection.
Preferably, it is described can automatically lock mechanical arm, the rack is L-shaped structure, and the first of the rack is straight
The arm of angle is vertically arranged, and the second right-angle side is horizontally disposed, and the first right-angle side is equipped with the second sliding slot extended along the vertical direction, described
One end of second right-angle side can vertical direction sliding setting in the second sliding slot so that second right-angle side can be opposite
The movement of first right-angle side in the vertical direction.
Preferably, it is described can automatically lock mechanical arm, the lower surface of second right-angle side is equipped with horizontal direction
The third sliding slot of extension, the upper surface third sliding block of the pedestal, the third slider containment is in the third sliding slot and can
It is slided in the third sliding slot, to realize being slidably connected for the pedestal and the rack.
Preferably, it is described can automatically lock mechanical arm, second right-angle side connect with first motor, described
Movement of second right-angle side described in one motor driven relative to first right-angle side in the vertical direction；The pedestal and the second electricity
Machine connects, movement of the pedestal relative to second right-angle side in the horizontal direction described in second motor driven；The cylinder
It is connect with third motor, the relatively described sleeve sliding of cylinder described in the third motor driven.
The present invention is include at least the following beneficial effects:
1, three telescopic rods are driven by the hydraulic cylinder respectively connected flexible respectively, can be by carrying out to three telescopic rods
The operation of identical height is elongated or shortened simultaneously, adjusts the position of corpus unguis vertical direction, it can also be flexible by adjusting three
The different length of bar, allows the first disk from the horizontal by the inclination of certain angle, to drive the crawl point of corpus unguis
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 connection, so that annular base can drive the first disk and be connected to turning for the first disk lower part around own axis
The rotation of motivation structure, retaining mechanism and corpus unguis can adjust the placement angle of crawl object；
2, when the corpus unguis mutually collapsed runs out of steam, cylinder compressed spring can under the active force that own resilient restores
Be automatically locked to the clamping of corpus unguis, avoid suddenly run out of steam when, corpus unguis open so that crawl object fall off, influence industry
Production operation is normally carried out, and results even in the generation of industry security accident, improves security reliability of the invention, compresses bullet
Spring, connector and the cylinder being slidably socketed in sleeve cooperate and complete automatically lock, and structure is simple, without expending other
The energy provide power, be more energy-saving and environmentally friendly；
3, each corpus unguis is flexibly connected with cylinder by a connector, so that cylinder moves up for driving corpus unguis
It opens, cylinder moves down the gathering for driving corpus unguis, enables the opening/gathering of corpus unguis freely, and connector realizes power transmission,
Additional power is provided without opening/gathering for corpus unguis, reduces power mechanism equipment, reduces industrial machine arm of the present invention certainly
The weight load of body, while reducing production cost；
4, the sucker with holdfast surface, energy can be adsorbed in the one side setting that corpus unguis is directly contacted with holdfast
Enough enhancing present invention to the clamping dynamics of object, guarantee object be always during transport operation it is clamped, avoid object
Cause object to be detached from between corpus unguis when mechanical arm shakes under external force, shakes, seriously affects the normal continuation of operation
It carries out, further increases the security reliability of industrial machine arm of the present invention；And the number setting of sucker is multiple, so that object is more
Adsorption of a position by sucker, further enhances clamping dynamics；
5, sucker with strong adsorption effect, slidably to inside rectangular recess, and passes through the first plate in the first slide 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, avoids sucker from being chronically exposed in outside air and adhere to the magazines such as a large amount of dusts, so as to cause suction
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
The sucker of cleaning or replacement damage guarantees suction-operated of multiple suckers to object strength, the opposite side of a pair of the first groove
The slideway that extends along its depth direction is set on wall, it is fixed respectively on the opposite side of first slide plate a pair to be moved in slideway
Convex block, to realize being slidably connected for the first slide plate and the first groove；
6, it is respectively equipped with the first sponge brush and the second sponge brush on 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 are located in the second slide plate
Portion drives the first sponge brush and the second sponge brush court when the first plate body and the second plate body are slided towards the direction being located remotely from each other
The direction that is located remotely from each other it is mobile, dust, the impurity on the outer surface corresponding with the first groove of object to be grabbed can be wiped
Wipe clean, sucker and stronger wait grab the absorption dynamics between object.
Further advantage, target and feature of the invention will be partially reflected by the following instructions, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Detailed description of the invention
Fig. 1 be it is of the present invention can automatically lock mechanical arm structural schematic diagram；
Fig. 2 is the structural schematic diagram of pedestal of the present invention；
Fig. 3 is the partial enlarged view of A in Fig. 1 of the present invention；
Fig. 4 is the structural schematic diagram of corpus unguis of the present invention；
Fig. 5 is the partial enlarged view of B in Fig. 4；
Fig. 6 is the structural schematic diagram under another state of corpus unguis of the present invention；
Fig. 7 is the partial enlarged view of C in Fig. 6.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and embodiments, to enable those skilled in the art's reference
Specification word can be implemented accordingly.
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 a other elements or combinations thereof.
In the description of the present invention, term " transverse direction ", " longitudinal direction ", "upper", "lower", "front", "rear", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "top", "bottom", "inner", "outside" is orientation based on the figure or position
Relationship is set, is merely for convenience of description of the present invention and simplification of the description, is not that device or the element of indication or suggestion meaning are necessary
It with specific orientation, is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
As shown in Fig. 1~7, it is a kind of can automatically lock mechanical arm comprising:
Rack；
Rotating mechanism comprising the horizontally disposed pedestal 2 being connect with the housing slide and 2 lower surface of pedestal
The horizontally disposed annular swivel base 31 of bearing connection is evenly distributed on being vertically arranged for 31 lower surface of the annular swivel base
Three telescopic rods 32, upper surface horizontally disposed first disk 33 hinged with the lower end of three telescopic rods 32, level are set
It sets the second disk 43 below first disk 33 and two connects first disk 33 and second disk 43
The column 44 being vertically arranged connect；The axis of first disk 33, the axis of second disk 43 and the annular
The axis of swivel base 31 is overlapped；The upper end of any telescopic rod 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, a telescopic rod 32 connects a hydraulic cylinder, and by the liquid
Compressing cylinder drives the telescopic rod 32 in the vertical direction flexible；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 are center line along second circle using the axis of second disk 43
The circumferencial direction of disk 43 is uniformly distributed, and the one side of the axis close to second disk 43 of the corpus unguis 45 is equipped with along institute
Rectangular first groove 451 of 45 length direction of corpus unguis extension is stated, and along the two long of 45 width direction of corpus unguis extension
The second rectangular groove 452, side where two second grooves 452 are located at the width of second groove 452
Both ends；
Retaining mechanism comprising upper end is installed in the sleeve 34 of 33 lower surface of the first disk being vertically arranged, sliding
It is set in the hollow cylinder 41 of the lower ending opening 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 is greater than second disk 43
Diameter, the upper bottom surface of the cylinder 41 are equipped with a pair of of first through hole, and a first through hole corresponds to a column 44,
So that the column 44 can will be located at described in first disk 33 and the lower section of the top of 41 upper bottom surface of cylinder
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 being vertically arranged
Contracting spring 42 connects, and the compressed spring 42 and three telescopic rods 32 are non-interference；One connector is one corresponding
The corpus unguis 45, any connector include the fixed link 51 being installed on the outer circumference surface of the cylinder 41 and one end with
The tie point of the crank 52 of 51 free end of the fixed link pivot joint, multiple fixed links 51 and the cylinder 41 shares one and puts down
Face and parallel with 41 cross section of cylinder, any fixed link 51 and the angle of the axis of the cylinder 41 are 60 °, described
Between fixed link 51 and the crank 52 flexible movable angle range be 100~150 °, the other end of the crank 52 with it is corresponding
One 45 middle part of corpus unguis is hinged；
The compressed spring 42 and connector setting are as follows: when the compressed spring 42 is under natural elongation state, institute
It states cylinder 41 and the fixed link 51 is located at downward extreme position, at this point, between the fixed link 51 and the crank 52
Angle is 100 ° of minimum value, and the crank 52 applies towards multiple corpus unguis 45 direction close to each other the corpus unguis 45
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；Cylinder 41 is moved upward to extreme position, the compressed spring
42 are pressed up to extreme position, at this point, second disk 43 is located at the lower section of 41 lower port of cylinder, the cylinder 41
The extruding force to all corpus unguis 45 is released, the cylinder 41, which moves up, drives the fixed link 51 to move up, institute
It states the angle between fixed link 51 and the crank 52 to become larger to 150 ° of maximum value, the mobile drive institute of the fixed link 51
The movement of crank 52 is stated, the crank 52 applies the drawing in the direction being located remotely from each other towards multiple corpus unguis 45 to the corpus unguis 45
Power, so that all corpus unguis 45 are in the state of expansion.
In the above-mentioned technical solutions, the present invention is made by designing compressed spring 42 between the first disk 33 and cylinder 41
It obtains cylinder 41 and automatically lock is promptly carried out to corpus unguis 45 under the elastic force effect of compressed spring 42, improving safety of the invention can
By property, the present invention can also drive the first disk 33 towards all angles, respectively by adjusting the different length of three telescopic rods 32
The inclination in a orientation realizes the crawl of the object to be grabbed of multiple planes, multiple orientation to drive the rotation of a angle of corpus unguis more than 45
The completion of operation.
In another technical solution, it is described can automatically lock mechanical arm, multiple draw frame machines, a corpus unguis
45 are equipped with a draw frame machine, any draw frame machine include be located at first groove, 451 inside and with it is described
Multiple the recessed far from described first of first slide plate 453 is arranged in the first parallel slide plate 453 of the bottom surface of first groove 451
It is sucker 456 on one surface of slot 451 and setting 451 top of the first groove and parallel with first slide plate 453
The second slide plate；First slide plate 453 side walls opposite with a pair of first groove 451 are connect, and described first
Slide plate 453 can be mobile towards close/bottom surface direction far from first groove 451；Second slide plate can be by described first
Groove 451 blocks completely, and second slide plate includes that the first plate body 454 of the same size and the second plate body 455 are spliced, institute
The surface opposite 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
First plate body parallel with the opposite one side of the second plate body 455 and it is tightly attached to the side of this side；Second plate body
455 away from being equipped with the second sponge brush of strip 458 on the surface of first groove 451, second sponge brush 458 with
Second plate body 455 parallel with the opposite one side of the first plate body 454 and it is tightly attached to the side of this side；
When first plate body 454 and second plate body 455 are moved to extreme position towards direction close to each other, shape
At the second slide plate for being located at 453 top of the first slide plate and first groove 451 is completely blocked；First plate body
454 and second plate body 455 when being moved to extreme position towards the direction being located remotely from each other, first plate body 454 and described
Second plate body 455 is located at 451 both sides of the first groove and not be overlapped with first groove 451.
In another technical solution, it is described can automatically lock mechanical arm, further include controller, be located at described the
The middle part of two disks, 43 lower surface, the controller and first slide plate 453, first plate body 454 and second plate
Body 455, the controller setting are as follows: when all corpus unguis 45 are mobile towards direction close to each other, the controller
It controls first plate body 454 and second plate body 455 and is moved to extreme position towards the direction being located remotely from each other, then control
First slide plate 453 is mobile away from the direction of 451 bottom surface of the first groove, so that all suckers 456 are prominent
For 451 notch of the first groove；When all corpus unguis 45 are mobile towards the direction being located remotely from each other, the controller
It is mobile towards the direction close to 451 bottom surface of the first groove to control first slide plate 453, 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 automatically lock mechanical arm, the inner wall of the sleeve 34 is equipped with one
To the first sliding groove symmetrically extended along its axis direction, the outer circumference surface of the cylinder 41 is equipped with a pair of second sliding block 411,
One second sliding block 411 is contained in the first sliding groove and can slide in the first sliding groove, described in realization
Cylinder 41 is slidably connected with the sleeve 34.
In another technical solution, it is described can automatically lock mechanical arm, the rack 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 is equipped with to be prolonged along the vertical direction
The second sliding slot 111 stretched, one end of second right-angle side 12 can vertical direction sliding setting in the second sliding slot 111
In, so that second right-angle side 12 can be relative to the movement of first right-angle side 11 in the vertical direction.
In another technical solution, it is described can automatically lock mechanical arm, the lower surface of second right-angle side 12
Equipped with the third sliding slot 121 that horizontal direction extends, the upper surface third sliding block 21 of the pedestal 2, the third sliding block 21 is accommodated
It can slide in the third sliding slot 121 and in the third sliding slot 121, to realize the pedestal 2 and the rack
It is slidably connected.
In another technical solution, it is described can automatically lock mechanical arm, second right-angle side 12 and the first electricity
Machine connection, the first motor drive the shifting of relatively described first right-angle side 11 of second right-angle side 12 in the vertical direction
It is dynamic；The pedestal 2 is connect with the second motor, and second right-angle side 12 relatively of pedestal 2 described in second motor driven is in water
Square upward movement；The cylinder 41 is connect with third motor, the relatively described set of cylinder 41 described in the third motor driven
Cylinder 34 slides.
Workflow of the invention: industrial machine arm in the initial state when, three telescopic rods 32 are with length and are in
Vertically, retracted mode, the first disk 33 is level at this time, and multiple corpus unguis 45 are under the squeezing action of 41 lower circumferential wall of cylinder
In the state mutually collapsed；When needing to grab object, the second right angle is respectively driven by first motor and the second motor first
Side 12 drives rotating mechanism, the retaining mechanism of 2 lower part of pedestal in the movement and the movement in the horizontal direction of pedestal 2 of vertical direction
And movement of the corpus unguis 45 on vertically and horizontally passes through so that corpus unguis 45 is moved to above object to be grabbed
The length for adjusting three telescopic rods 32, according to the tilt angle for adjusting the first disk 33 wait the position where grabbing object, the second circle
Disk 43 is parallel with wait the plane approximation where grabbing object, and driving cylinder 41 releases cylinder 41 towards close to the movement of the direction of sleeve 34
Lower circumference wall is to the squeezing action of multiple corpus unguis 45, and all corpus unguis 45 are in the mobile effect mobile with follower link of cylinder 41
Under be flared to can by object to be grabbed wrap up degree, pass through three hydraulic cylinders simultaneously drive three telescopic rods 32 extend similarly
Length cancels the pulling force to cylinder 41 towards close 34 direction of sleeve so that object to be grabbed is located inside multiple corpus unguis 45 at this time,
Driving 41 relative sleeve 34 of cylinder can be applied according to job requirements simultaneously away from the thrust in the direction of sleeve 34, cylinder 41 exists
It is moved under the action of 42 own resilient restoring force of compressed spring or/and thrust, so that multiple corpus unguis 45 are towards close to each other
Direction it is mobile so that object to be grabbed wrap up and firmly grasped by corpus unguis 45, complete to treat the crawl operation for grabbing object；
While multiple corpus unguis 45 are mobile towards direction 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 455 moving process of the first plate body 454 and the second plate body,
The impurity wiped clean on object surface to be grabbed can be enhanced sucker 456 and object to be grabbed by the first sponge brush 457 and the second sponge brush 458
Between absorption dynamics, it is mobile away from the direction of 451 bottom surface of the first groove then to control the first slide plate 453, so that all
Sucker 456 protrude from 451 notch of the first groove so that all suckers 456 are firmly adsorbed on the outer surface of object to be clamped；
After completing the transport wait grab object, installment work, driving cylinder 41 drives towards close to the movement of the direction of sleeve 34
Multiple corpus unguis 45 are mobile towards the direction being located remotely from each other, and it is recessed towards close first to control the first slide plate 453 for controller at the same time
The direction of 451 bottom surface of slot is mobile, so that sucker 456 is completely accommodated in the first groove 451, then controls 454 He of the first plate body
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 for simplifying explanation of the invention.To application of the invention,
Modifications and variations will be readily apparent to persons skilled in the art.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (7)
1. one kind can automatically lock mechanical arm, characterized in that it comprises:
Rack；
Rotating mechanism comprising the horizontally disposed pedestal connecting with the housing slide and the base lower surface bearing connect
The horizontally disposed annular swivel base that connects, three be vertically arranged for being evenly distributed on the annular swivel base lower surface are flexible
Hinged horizontally disposed first disk in the lower end of bar, upper surface and three telescopic rods is horizontally set on first circle
The second disk and two columns being vertically arranged for connecting first disk with second disk below disk；
The axis of first disk, second disk axis be overlapped with the axis of the annular swivel base；Any telescopic rod
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 telescopic rod connects a hydraulic cylinder, and drives the telescopic rod in the vertical direction flexible by the hydraulic cylinder；
The upper end of any column is fixedly connected with the lower surface of first disk, and the upper surface of lower end and second disk is solid
Fixed connection；The lower surface of second disk is connected with multiple corpus unguis, and multiple corpus unguis are with the axis of second disk
Line is that center line is uniformly distributed along the circumferencial direction of second disk, the axis close to second disk of the corpus unguis
One side is equipped with rectangular first groove extended along the corpus unguis length direction, and extends along the corpus unguis width direction
Two rectangular second grooves, the two of side where two second grooves are located at the width of second groove
End；
Retaining mechanism comprising upper end is installed in that the sleeve of first lower disk surface being vertically arranged, be slidably located in institute
It states the hollow cylinder of the lower ending opening of sleeve inner and multiple connects multiple corpus unguis and the cylinder outer circumference surface activity
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 greater than the diameter of second disk, and the upper bottom surface of the cylinder is equipped with
A pair of of first through hole, the corresponding column of a first through hole, so that the column can will 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 of the first disk is stated by the connection of the compressed spring that is vertically arranged, the compressed spring and three telescopic rods are mutually not
Interference；The corresponding corpus unguis of one connector, any connector includes the excircle for being installed in the cylinder
The crank of fixed link and one end and fixed link free end pivot joint on face, the company of the multiple fixed links and the cylinder
Contact shares a plane and parallel with the cylinder cross section, and any fixed link and the angle of the axis of the cylinder are
60 °, between the fixed link and the crank flexible movable angle range be 100~150 °, the other end of the crank with it is corresponding
The corpus unguis in the middle part of it is hinged；
The compressed spring and the connector setting are as follows: when the compressed spring is under natural elongation state, the cylinder and
The fixed link is located at downward extreme position, at this point, the angle between the fixed link and the crank is 100 ° of minimum value,
The crank applies the thrust towards multiple corpus unguis direction close to each other, while the lower part 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；Cylinder is moved upward to extreme position, and the compressed spring is pressed up to extreme position, at this point, described
Two disks are located at the lower section of the cylinder lower port, and the cylinder releases the extruding force to all corpus unguis, the cylinder
It moves up and the fixed link is driven to move up, the angle between the fixed link and the crank becomes larger to maximum value
150 °, the movement of the mobile drive crank of the fixed link, the crank applies towards multiple pawls the corpus unguis
The pulling force in the direction that body is located remotely from each other, so that all corpus unguis are in the state of expansion.
2. as described in claim 1 can automatically lock mechanical arm, which is characterized in that multiple draw frame machines, a pawl
Body is equipped 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 is arranged on the surface far from first groove of first slide plate
Sucker and setting first groove top and second slide plate parallel with first slide plate；First slide plate and institute
The opposite side walls connection of a pair of the first groove is stated, first slide plate can be towards close/separate first groove
Bottom surface direction is mobile；Second slide plate can block completely first groove, and second slide plate includes of the same size
First plate body and the second plate body are spliced, one opposite 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 is away from being equipped with the first sponge brush of strip, first sponge on the surface of first groove
Brush side parallel with the opposite one side of the second plate body and being tightly attached to this side with first plate body；Second plate body
Away from being equipped with the second sponge brush of strip on the surface of first groove, second sponge brush and two plate body
Side that is parallel with the opposite one side of the first plate body and being tightly attached to this side；
When first plate body and second plate body are moved to extreme position towards direction close to each other, formed described in being located at
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
Both sides and not be overlapped with first groove.
3. as claimed in claim 2 can automatically lock mechanical arm, which is characterized in that further include controller, be located 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 setting are as follows: when all corpus unguis are mobile towards direction close to each other, the controller control 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
Direction from first groove floor is mobile, so that all suckers protrude from the first groove notch；When all
The corpus unguis it is mobile towards the direction that is located remotely from each other when, the controller controls first slide plate towards close to described first
The direction of groove floor is mobile, so that the sucker is completely accommodated in first groove, then controls first plate body
It is moved to extreme position towards direction close to each other with second plate body, forms second slide plate for first groove
It blocks completely.
4. as claimed in claim 3 can automatically lock mechanical arm, which is characterized in that the inner wall of the sleeve be equipped with a pair
The first sliding groove symmetrically extended along its axis direction, the outer circumference surface of the cylinder are equipped with a pair of second sliding block, an institute
The second slider containment is stated in a first sliding groove and can be slided in the first sliding groove, realize the cylinder with it is described
Sleeve is slidably connected.
5. as claimed in claim 4 can automatically lock mechanical arm, which is characterized in that the rack be L-shaped structure, the machine
First right-angle side of frame is vertically arranged, and the second right-angle side is horizontally disposed, and the first right-angle side is equipped with the extended along the vertical direction
Two sliding slots, one end of second right-angle side can vertical direction sliding setting in the second sliding slot so that described second
Right-angle side can be relative to the movement of first right-angle side in the vertical direction.
6. as claimed in claim 5 can automatically lock mechanical arm, which is characterized in that the lower surface of second right-angle side is set
The third sliding slot for having horizontal direction to extend, the upper surface third sliding block of the pedestal, the third slider containment is in the third
It can slide in sliding slot and in the third sliding slot, to realize being slidably connected for the pedestal and the rack.
7. as claimed in claim 6 can automatically lock mechanical arm, which is characterized in that second right-angle side and first motor
Connection, the first motor drive the movement of second right-angle side in the vertical direction relative to first right-angle side；It is described
Pedestal is connect with the second motor, the shifting of relatively described second right-angle side of pedestal described in second motor driven in the horizontal direction
It is dynamic；The cylinder is connect with third motor, the relatively described sleeve sliding of cylinder described in the third motor driven.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710704402.3A CN107618873B (en) | 2017-08-17 | 2017-08-17 | Can automatically lock mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710704402.3A CN107618873B (en) | 2017-08-17 | 2017-08-17 | Can automatically lock mechanical arm |
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| CN107618873A CN107618873A (en) | 2018-01-23 |
| CN107618873B true CN107618873B (en) | 2019-05-28 |
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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 |
| CN113333049B (en) * | 2021-05-13 | 2023-06-16 | 北京戴纳实验科技有限公司 | Multidimensional mechanical arm for laboratory |
| CN113172583B (en) * | 2021-05-31 | 2022-09-23 | 西南医科大学附属中医医院 | Heparin cap screwing device |
| CN113830543A (en) * | 2021-06-29 | 2021-12-24 | 南京昱晟机器人科技有限公司 | Special-shaped workpiece grabbing device and grabbing method |
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| CN107618873A (en) | 2018-01-23 |
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