CN108772832A - A kind of pickup arm structure being used for four axis extractors - Google Patents
A kind of pickup arm structure being used for four axis extractors Download PDFInfo
- Publication number
- CN108772832A CN108772832A CN201810780229.XA CN201810780229A CN108772832A CN 108772832 A CN108772832 A CN 108772832A CN 201810780229 A CN201810780229 A CN 201810780229A CN 108772832 A CN108772832 A CN 108772832A
- Authority
- CN
- China
- Prior art keywords
- rotating arm
- arm
- servo motor
- line shaft
- clamping jaw
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of pickup arm structure being used for four axis extractors,It can realize mechanization pickup,And it is simple in structure,Easy to operate easy to get started,Hollow first rotating arm is horizontally installed in arm shell,One end of first rotating arm is connect by gear with rotating arm oscillating cylinder,First rotating arm rotation is driven by rotating arm oscillating cylinder,The other end of first rotating arm links together in arm shell end and second hollow rotating arm one end,The second rotating arm is driven to rotate synchronously,The body of the second rotating arm other end and rectangular axes speed reducer links together,Line shaft extends transversely through first rotating arm and the setting of the second rotating arm,And one end of line shaft is connect with end wobble servo motor,Line shaft rotation is driven by end wobble servo motor,The other end of line shaft is connect with the power intake of rectangular axes speed reducer,The power output end of rectangular axes speed reducer links together with clamping jaw frame,Clamping jaw is arranged on clamping jaw frame and is rotated together with clamping jaw frame.
Description
Technical field
A kind of pickup arm structure being used for four axis extractors of the present invention, belongs to extractor technical field.
Background technology
The product that die casting machine makes, if manually taking out product, working efficiency is low, and there are certain danger, makes
With not enough facilitating, if substituted with robot, the structure further related to is more complicated, higher to the competency profiling of worker, Er Qieji
Device people's cost is also high.
Invention content
The invention overcomes the deficiencies of the prior art, and provides a kind of pickup arm knots being used for four axis extractors
Structure can realize mechanization pickup, and simple in structure, easy to operate easy to get started.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：A kind of pickup being used for four axis extractors
Arm structure, including arm shell, end wobble servo motor, rotating arm oscillating cylinder, first rotating arm, the second rotating arm,
Line shaft, rectangular axes speed reducer, clamping jaw frame and clamping jaw, the hollow first rotating arm are horizontally installed in arm shell, institute
The one end for stating first rotating arm is connect by gear with rotating arm oscillating cylinder, and the first rotation of rotating arm oscillating cylinder driving is passed through
Arm rotates, and the other end of the first rotating arm links together in arm shell end and second hollow rotating arm one end,
The second rotating arm is driven to rotate synchronously, the body of the second rotating arm other end and rectangular axes speed reducer links together, institute
It states line shaft and extends transversely through first rotating arm and the setting of the second rotating arm, and one end of the line shaft and end wobble servo electricity
Machine connects, and line shaft rotation, the other end and the rectangular axes speed reducer of the line shaft are driven by end wobble servo motor
Power intake connects, and power output end and the clamping jaw frame of the rectangular axes speed reducer link together, and the clamping jaw setting exists
On clamping jaw frame.
The line shaft is hollow-core construction, and the hollow-core construction is for connecting up.
It is linked together by synchronous belt between the power output end and line shaft of the end wobble servo motor, it is described
Swing inductor in situ is provided on the upside of the body of rectangular axes speed reducer, the original position inductor and end wobble servo motor are equal
Be electrically connected with control terminal, control end wobble servo motor make rectangular axes speed reducer power output end rotational angle be ±
90°。
The end wobble servo motor is located in arm shell, and air-operated solenoid valve is additionally provided in the arm shell,
It is connected by gas circuit between the air-operated solenoid valve and end wobble servo motor, the air-operated solenoid valve is also electrically connected with control terminal
It connects, wobble servo motor work in end is controlled by air-operated solenoid valve.
The present invention has an advantageous effect in that compared with prior art：The swing of end clamping jaw frame is to pass through rear portion in the present invention
End wobble servo motor driving synchronous pulley and synchronous belt conduct and reach the rectangular axes of front end to hollow line shaft and slow down
Machine, end clamping jaw frame are mounted on rectangular axes speed reducer flange side, you can swing with end wobble servo motor.In the present invention
The purposes of rotating arm oscillating cylinder is to rotate entire arm by the engagement of Double-gear, it can be achieved that 180 ° of product are overturn, mainly
Using the vertical posture in product, the posture laterally to lie low is become by overturning and is placed on the conveyor belt, can realize that mechanization takes
Part, and simple in structure, easy to operate easy to get started.
Description of the drawings
Following further describes the present invention with reference to the drawings.
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the sectional view of Section A-A in Fig. 1.
In figure：1 be arm shell, 2 be end wobble servo motor, 3 be rotating arm oscillating cylinder, 4 be first rotating arm,
5 be the second rotating arm, 6 be line shaft, 7 be rectangular axes speed reducer, 8 be clamping jaw frame, 9 be clamping jaw, 10 be inductor in situ, 11 be
Air-operated solenoid valve.
Specific implementation mode
As shown in Figure 1 and Figure 2, a kind of pickup arm structure being used for four axis extractors of the present invention, including arm shell 1, end
Hold wobble servo motor 2, rotating arm oscillating cylinder 3, first rotating arm 4, the second rotating arm 5, line shaft 6, rectangular axes speed reducer
7, clamping jaw frame 8 and clamping jaw 9, the hollow first rotating arm 4 are horizontally installed in arm shell 1, the first rotating arm 4
One end is connect by gear with rotating arm oscillating cylinder 3, drives first rotating arm 4 to rotate by rotating arm oscillating cylinder 3, described
The other end of first rotating arm 4 links together in 1 end of arm shell and hollow 5 one end of the second rotating arm, drives second
Rotating arm 5 rotates synchronously, and the body of 5 other end of the second rotating arm and rectangular axes speed reducer 7 links together, the power
Axis 6 extends transversely through first rotating arm 4 and the setting of the second rotating arm 5, and one end of the line shaft 6 and end wobble servo motor
2 connections drive line shaft 6 to rotate by end wobble servo motor 2, the other end and the rectangular axes speed reducer 7 of the line shaft 6
Power intake connection, power output end and the clamping jaw frame 8 of the rectangular axes speed reducer 7 link together, and the clamping jaw 9 is set
It sets on clamping jaw frame 8.
The line shaft 6 is hollow-core construction, and the hollow-core construction is for connecting up.
It is linked together by synchronous belt between the power output end and line shaft 6 of the end wobble servo motor 2, institute
It states and is provided with swing inductor 10 in situ on the upside of the body of rectangular axes speed reducer 7, the original position inductor 10 and end swing and watch
It takes motor 2 to be electrically connected with control terminal, control end wobble servo motor 2 is so that the power output end of rectangular axes speed reducer 7 turns
Dynamic angle is ± 90 °.
The end wobble servo motor 2 is located in arm shell 1, and gas control electromagnetism is additionally provided in the arm shell 1
Valve 11 is connected between the air-operated solenoid valve 11 and end wobble servo motor 2 by gas circuit, the air-operated solenoid valve 11 also with
Control terminal is electrically connected, and controlling end wobble servo motor 2 by air-operated solenoid valve 11 works.
The course of work of the present invention：It is to drive to synchronize by the end wobble servo motor 2 at rear portion that end clamping jaw frame 8, which is swung,
Belt wheel and synchronous belt conduct the rectangular axes speed reducer 7 that front end is reached to hollow line shaft 6, and end clamping jaw frame 8 is mounted on right angle
7 flange side of axis speed reducer, you can swing with end wobble servo motor 2.
The purposes of rotating arm oscillating cylinder 3 is to rotate entire arm by the engagement of Double-gear, it can be achieved that production in the present invention
180 ° of overturnings of product, the main vertical posture using in product are placed on conveyer belt by overturning the posture for becoming laterally lying low
On.
The present invention can also be arranged in pairs or groups in addition to gripping and placing to product by the accessory device at linking action and rear portion
Form the die casting island unit with definite part function.
The embodiment of the present invention is explained in detail above in conjunction with attached drawing, but the present invention is not limited to above-mentioned implementations
Example, within the knowledge of a person skilled in the art, can also make without departing from the purpose of the present invention
Go out various change.
Claims (4)
1. a kind of pickup arm structure being used for four axis extractors, which is characterized in that including arm shell（1）, end swing watch
Take motor（2）, rotating arm oscillating cylinder（3）, first rotating arm（4）, the second rotating arm（5）, line shaft（6）, rectangular axes slow down
Machine（7）, clamping jaw frame（8）And clamping jaw（9）, the hollow first rotating arm（4）It is horizontally installed on arm shell（1）It is interior, it is described
First rotating arm（4）One end pass through gear and rotating arm oscillating cylinder（3）Connection, passes through rotating arm oscillating cylinder（3）Driving
First rotating arm（4）Rotation, the first rotating arm（4）The other end in arm shell（1）End and the second hollow rotation
Arm（5）One end links together, and drives the second rotating arm（5）It rotates synchronously, second rotating arm（5）The other end and rectangular axes
Speed reducer（7）Body link together, the line shaft（6）Extend transversely through first rotating arm（4）With the second rotating arm（5）If
It sets, and the line shaft（6）One end and end wobble servo motor（2）Connection, passes through end wobble servo motor（2）Driving
Line shaft（6）Rotation, the line shaft（6）The other end and rectangular axes speed reducer（7）Power intake connection, the right angle
Axis speed reducer（7）Power output end and clamping jaw frame（8）It links together, the clamping jaw（9）It is arranged in clamping jaw frame（8）On.
2. a kind of pickup arm structure being used for four axis extractors according to claim 1, which is characterized in that the power
Axis（6）For hollow-core construction, the hollow-core construction is for connecting up.
3. a kind of pickup arm structure being used for four axis extractors according to claim 1, which is characterized in that the end
Wobble servo motor（2）Power output end and line shaft（6）Between linked together by synchronous belt, the rectangular axes slows down
Machine（7）Body on the upside of be provided with swing inductor in situ（10）, the original position inductor（10）With end wobble servo motor
（2）It is electrically connected with control terminal, controls end wobble servo motor（2）Make rectangular axes speed reducer（7）Power output end turn
Dynamic angle is ± 90 °.
4. a kind of pickup arm structure being used for four axis extractors according to claim 3, which is characterized in that the end
Wobble servo motor（2）Positioned at arm shell（1）It is interior, the arm shell（1）Inside it is additionally provided with air-operated solenoid valve（11）, described
Air-operated solenoid valve（11）With end wobble servo motor（2）Between connected by gas circuit, the air-operated solenoid valve（11）Also with control
End electrical connection processed, passes through air-operated solenoid valve（11）Control end wobble servo motor（2）Work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810780229.XA CN108772832A (en) | 2018-07-16 | 2018-07-16 | A kind of pickup arm structure being used for four axis extractors |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810780229.XA CN108772832A (en) | 2018-07-16 | 2018-07-16 | A kind of pickup arm structure being used for four axis extractors |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108772832A true CN108772832A (en) | 2018-11-09 |
Family
ID=64029972
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810780229.XA Pending CN108772832A (en) | 2018-07-16 | 2018-07-16 | A kind of pickup arm structure being used for four axis extractors |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108772832A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109591049A (en) * | 2018-12-07 | 2019-04-09 | 英华达（上海）科技有限公司 | The extended structure of mechanical arm and mechanical arm with extended structure |
| WO2023046077A1 (en) * | 2021-09-23 | 2023-03-30 | 上海卓昕医疗科技有限公司 | Medical robot, surgical auxiliary positioning system and control method |
-
2018
- 2018-07-16 CN CN201810780229.XA patent/CN108772832A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109591049A (en) * | 2018-12-07 | 2019-04-09 | 英华达（上海）科技有限公司 | The extended structure of mechanical arm and mechanical arm with extended structure |
| CN109591049B (en) * | 2018-12-07 | 2022-02-11 | 英华达（上海）科技有限公司 | Extension structure of mechanical arm and mechanical arm with extension structure |
| WO2023046077A1 (en) * | 2021-09-23 | 2023-03-30 | 上海卓昕医疗科技有限公司 | Medical robot, surgical auxiliary positioning system and control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104444360B (en) | Five-axis hub transfer robot and clamping manipulator | |
| CN208137467U (en) | A kind of masonry robot | |
| CN104029256B (en) | Bamboo frame plate goes to save boring machine automatically | |
| CN108772832A (en) | A kind of pickup arm structure being used for four axis extractors | |
| CN207824577U (en) | A kind of air rotor mold burr remover | |
| CN207696559U (en) | A kind of charge and discharge rotating machinery arm apparatus | |
| CN207373169U (en) | A kind of four axis robot devices suitable for high temperature with high dust environment | |
| CN109910035A (en) | A kind of thin-wall barrel flexibility shifting mechanical arm | |
| CN208529102U (en) | A kind of pickup arm structure for four axis extractors | |
| CN206622878U (en) | A kind of abnormal-shaped punch processing clamping device | |
| CN206614547U (en) | Auto parts machinery pickup robot | |
| CN212635758U (en) | Oil tea picking manipulator | |
| CN208841407U (en) | A kind of four axis SCARA robot of no dead angle | |
| CN209035871U (en) | A kind of electric cylinders pressure welding positioner | |
| CN207290441U (en) | A kind of glaze spraying device for ceramics | |
| CN207874263U (en) | Six-shaft industrial mechanical arm | |
| CN210209554U (en) | Clamp for machining automobile transmission shaft | |
| CN212021131U (en) | Automatic glazing mechanism for inner wall of ceramic cup | |
| CN209383663U (en) | A kind of glass oven conveying mechanical arm | |
| CN207226452U (en) | Conveying device | |
| CN108160918B (en) | A kind of full-automatic melting is molded into wax apparatus | |
| CN106807836B (en) | Pull rod press machine | |
| CN105965500B (en) | A kind of six axis all-purpose robots of double small arm | |
| CN201541346U (en) | Microphone housing edge-folding shaping machine | |
| CN205799513U (en) | A kind of six axle all-purpose robots of double small arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| CB02 | Change of applicant information |
Address after: 201616 No. 428, Central Road, Xiaokunshan Town, Songjiang District, Shanghai Applicant after: Shanghai KENK Automatic Equipment Manufacture Co., Ltd. Address before: 201067 Lane 1, 517 Xinbo Road, Sigang Town, Songjiang District, Shanghai Applicant before: Shanghai KENK Automatic Equipment Manufacture Co., Ltd. |
|
| CB02 | Change of applicant information | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181109 |
|
| WD01 | Invention patent application deemed withdrawn after publication |