CN201012495Y

CN201012495Y - Air-actuated balancing machine arm

Info

Publication number: CN201012495Y
Application number: CNU200620039456XU
Authority: CN
Inventors: 胡青
Original assignee: Individual
Current assignee: Individual
Priority date: 2006-02-14
Filing date: 2006-02-14
Publication date: 2008-01-30
Anticipated expiration: 2016-02-14

Abstract

The utility model relates to a transplanting device, in specific to an aerodynamic balancing mechanical arm. The aerodynamic balancing mechanical arm comprises a base, a support, a rotor, a dead center brake mechanism, a rotary joint, an operational arm and a clamp; the utility model also comprises a cylinder, a parallel four-link lever mechanism and a rotary arm; the parallel four-link lever mechanism is installed on the rotor by a middle pivot of a main long rod of the mechanism; the parallel four-link lever mechanism and another secondary long rod fixed on the main long rod of the rotor by a pivot are fixed on the rotor above or below the position where the main long rod is installed; the cylinder is connected with one end of the main long rod of the parallel four-link lever mechanism and the rotary arm is equipped on a rotary joint of the other end of the parallel four-link lever mechanism. By adopting the technical proposal mentioned above, the mechanical arm can move freely horizontally and vertically in the space and the working piece can always be kept level.

Description

Pneumatic balancing mechanical arm

Technical field

The utility model relates to a kind of shifting apparatus, is specifically related to a kind of Pneumatic balancing mechanical arm.

Background technology

Shifting apparatus is to be used to carry or the device of mobile article, directly uses the shifting apparatus mobile article, replaces manual moving in process of production, can save human resources widely.In transporting the process of article, can alleviate operator's manual labor, improve the reasonability of operation with the transfer article.Common shifting apparatus mechanical arm comprises pedestal, pillar, rotor, dead point arrestment mechanism, rotary joint, motion arm and anchor clamps, and a rotary joint is installed between above-mentioned rotor and the pillar, and a dead point arrestment mechanism is installed on this rotary joint.Rotary joint can rotate on horizontal plane, and the dead point arrestment mechanism is a connecting rod dynamic balance mechanism, can produce huge brake force and rotary joint is stopped the rotation and brakes.But present shifting apparatus moves still underaction, majority can only be fixed on a position, and the mechanical arm of the transportable shifting apparatus of minority can not guarantee to be transported the level of article in the process of motion, make the rigging position that is transported article produce deviation, cause to be difficult to install.Simultaneously because the design of the mechanical arm of shifting apparatus is reasonable inadequately, though cause when using mechanical arm to transport article time saving and energy savingly than a dead lift, the operator of the mechanical arm of shifting apparatus does not also think that operation is very light, can follow one's bent.Therefore, more convenient more laborsaving use more easily the transfer instrument be to expect in the market.

Summary of the invention

The purpose of this utility model is to provide a kind of assembling or carrying needs that satisfy workpiece in the industrial production, improves the reasonability of operation, alleviates the Pneumatic balancing mechanical arm that operator's manual labor and guaranteeing is transported the level of article to a greater degree.

For solving the problems of the technologies described above, the utility model is by the following technical solutions: a kind of Pneumatic balancing mechanical arm, it comprises pedestal 1, pillar 2, rotor 7, dead point arrestment mechanism, rotary joint, motion arm 12 and anchor clamps, it also comprises cylinder 3, parallel four-bar linkage 6 and turning arm 10, wherein, described parallel four-bar linkage 6 pivotally is installed on the rotor 7 by the middle part of the main stock 61 in this mechanism

A stock 62 that parallels with described main stock in described parallel four-bar linkage 6 pivotally is installed on the rotor 7 above or below the main stock installation site,

Described cylinder 3 is connected with an end of the main stock 61 of described parallel four-bar linkage 6,

Described turning arm 10 is installed on the rotary joint of the other end of described parallel four-bar linkage 6.

Because the utility model adopts technique scheme, produced following beneficial effect: this mechanical arm can be made any level or movement in vertical direction in the space, assurance is transported the level of article, make the basic zero deflection of the rigging position that is transported article, thereby be easy to install, this mechanical arm can alleviate operator's manual labor to a greater degree simultaneously.It has rigidity and necessary flexibility concurrently, can satisfy each generic request and assemble accurately and rapidly, operate very light with follow one's bent.

Description of drawings

The structural representation of Fig. 1 Pneumatic balancing mechanical arm;

Fig. 2 lands the Pneumatic balancing mechanical arm of fixed pedestal;

The Pneumatic balancing mechanical arm of Fig. 3 hanging mobile pedestal;

Fig. 4 hangs the Pneumatic balancing mechanical arm of fixed pedestal;

Fig. 5 Pneumatic balancing mechanical arm underloading equilibrium principle figure;

Heavily loaded equilibrium principle figure in Fig. 6 Pneumatic balancing mechanical arm;

The dead point arrestment mechanism structural representation of Fig. 7 Pneumatic balancing mechanical arm.

The specific embodiment

The utility model is described in further detail below in conjunction with drawings and embodiments:

Referring to Fig. 1, a kind of Pneumatic balancing mechanical arm that lands portable pedestal, it comprises pedestal 1, pillar 2, rotor 7, dead point arrestment mechanism, rotary joint, motion arm 12 and anchor clamps (not shown), it also comprises cylinder 3, parallel four-bar linkage 6 and turning arm 10, wherein

Described parallel four-bar linkage 6 pivotally is installed on the rotor 7 by the middle part of the main stock 61 in this mechanism,

Referring to Fig. 1-4, pedestal 1 form have four kinds can be for apolegamy: land fixing, hang fix, land mobile, hang and move.Fig. 1 lands the Pneumatic balancing mechanical arm of portable pedestal, and Fig. 2 lands the Pneumatic balancing mechanical arm of fixed pedestal, the Pneumatic balancing mechanical arm of Fig. 3 hanging mobile pedestal, and Fig. 4 hangs the Pneumatic balancing mechanical arm of fixed pedestal.

Landing fixing and hanging fixedly is economic installation form.Landing fixed is with foundation bolt equipment to be fixed on the ground, and four horizontal adjustment bolt are arranged on the base plate of equipment, will adjust the level of equipment during installation earlier, fixes foundation bolt again.Hanging fixed installation and do not take the production space fully, is that the equipment reversal of the natural order of things is had on the roof steel construction of intensity, will mix up the level of equipment when installing equally earlier, tightens with high-strength bolt again.Portable structure can expansion equipment service range, pedestal will design the tilting moment that enough counterweigh workpiece produce.The portable structure pedestal that lands is a go-cart, equipment can be moved on to different place work, and four height-adjustable spikes are arranged in the go-cart.When mobile spike is transferred, made the wheel promotion that lands, must prop up by spike during work, mix up level, guarantee safety in production.The hanging mobile structure is to fix two parallel tracks on the steel construction of roof, and the width of two tracks design should make it to produce enough stable equilibrium moment.Power mode is divided into again: manually drag, electric walking and variable-frequency motor control walking.On the automobile making streamline, during the automobile that is assembled is in and advances, the speed of travel of using variable-frequency motor control that the intrinsic safety installing is equipped with transfers to identical with the speed of production line, just can realize installing synchronously, uses on the production line of this sychronisation in advancing to be absolutely necessary.

Parallel four-bar linkage can make the state that workpiece is at the volley all the time to be needed, and as level or vertical, the level in the time of also Special Clamps Design can being become workpiece to get material forwards the plumbness that installation needs to, has the height operating reliability.

In order to make structure compact, as long as the inferior stock of parallel four-bar linkage is parallel with main stock, be positioned at main stock on or under can.That tool lands is fixed, time stock of mechanical arm parallel four-bar linkage of portable pedestal of landing designs under main stock; The tool suspension is fixed, time stock of the mechanical arm parallel four-bar linkage of hanging mobile pedestal designs on main stock.

By the mechanical arm of the tool parallel four-bar linkage of above-mentioned air cylinder driven can be furnished with two cover dead point arrestment mechanism (not shown), two or three rotary joint (not shown) form three to four freedoms of motion, also can be equipped with the anchor clamps that various differences have one to two free degree, forming integral body has three to six-freedom degree, but at the equipment of a cylindrical solid space multi-dimensional movement.Be operated part and be in intimate state of weightlessness, can be accurately, carrying and assembling freely.Because three rotary joints provide a plurality of freedoms of motion.The operator can do the straight line of any direction or rotatablely move, and guarantees matching requirements accurately and rapidly.

Because the torsion of above-mentioned mechanical arm rotation is big, needs very big brake force.The mechanical dead point of ingenious utilization arrestment mechanism reaches mechanical in theory infinitely great brake force.Cylinder does not bear brake force, so only need select for use economic little cylinder just can satisfy the power needs, dead point arrestment mechanism structural representation is with reference to figure 7.

All kinds of functions that prevent fault-operation protection are arranged on the different anchor clamps in addition, prevent that operate miss from causing dropping and damaging of workpiece.

Cylinder can produce within the specific limits the cylinder force of fluctuation, thereby produces the countertorque in the certain limit, at any time in dynamically balance by the moment of the article of transfer generation, thereby make operator's transfer article freely that can feel relief significantly.The gravity of the parallel four-bar linkage balance workpiece of air cylinder driven.The utility model is adjusted through the whole process to movement locus, keeps workpiece equal substantially in the optional position of space moment about point of support, thereby obtains splendid poised state.The following underload of 50Kg is directly by cylinder balancing, with reference to figure 5; Carry during 50Kg is above, heavily loaded part is earlier with the weight of balancing weight balanced structure self, again with the weight of cylinder balancing workpiece, with reference to figure 6.

Above embodiment is only for the usefulness that the utility model is described, but not to restriction of the present utility model, person skilled in the relevant technique, under the situation that does not break away from spirit and scope of the present utility model, can also make various conversion or modification, therefore all technical schemes that are equal to also should belong to category of the present utility model, should be limited by each claim.

Claims

1. Pneumatic balancing mechanical arm, it comprises pedestal (1), pillar (2), rotor (7), dead point arrestment mechanism, rotary joint, motion arm (12) and anchor clamps, it is characterized in that, it also comprises cylinder (3), parallel four-bar linkage (6) and turning arm (10), wherein

Described parallel four-bar linkage (6) pivotally is installed on the rotor (7) by the middle part of the main stock (61) in this mechanism,

A stock (62) that parallels with described main stock in described parallel four-bar linkage (6) pivotally is installed on the rotor (7) above or below the main stock installation site,

Described cylinder (3) is connected with an end of the main stock (61) of described parallel four-bar linkage (6),

Described turning arm (10) is installed on the rotary joint of the other end of described parallel four-bar linkage (6).