CN201257664Y

CN201257664Y - Roll-over type mechanical arm

Info

Publication number: CN201257664Y
Application number: CNU2008200542946U
Authority: CN
Inventors: 苏九州; 刘振; 唐岳; 李鹏程
Original assignee: Changsha Chutian Science and Technology Co Ltd
Current assignee: Changsha Chutian Science and Technology Co Ltd
Priority date: 2008-08-29
Filing date: 2008-08-29
Publication date: 2009-06-17
Anticipated expiration: 2018-08-29

Abstract

A turnover type manipulator comprises a driving arm, a driven arm, a turnover control cam, a clamping control cam, a clamping spring, a left claw and a right claw; the driving arm is fixed on a rotary table through a driving arm shaft; the driven arm is fixed on the rotary table through a driven arm shaft; the left claw is mounted at one end of the driving arm through a left claw rotating shaft; the other end of the driving arm is connected with one end of the driven arm through a gear pair; a right claw is mounted at the other end of the driven arm through a right claw rotating shaft; the left claw rotating shaft is connected with a turnover transmission mechanism used for controlling the rotation of the left claw rotating shaft; and the turnover transmission mechanism is in contact and matched with the turnover control cam. The utility model provides a turnover type manipulator which has the advantages of simple and compact structure, low manufacturing cost, small occupation space, and reliable and stable operation.

Description

Roll-over type mechanical arm

Technical field

The utility model is mainly concerned with in medicine, the food service industry big volumetric flask class and cleans widely used manipulator field on the filling apparatus, refers in particular to a kind of roll-over type mechanical arm.

Background technology

At present roll-over type mechanical arm from pick up material to the upset material to other operation (as cleaning ...) all be to finish at the volley to upset material and discharging again, general cam is fixed, the rotating disk band master arm, slave arm and annex thereof be rotation together, this manipulator comprises master arm, slave arm, gear pair is arranged between them, make the slave arm interlock by cam control master arm through gear pair, manipulator is opened, material to be grabbed enters manipulator, master arm breaks away from the control of cam, main, spring between the slave arm will be led, slave arm is toward pulling back (gear pair counter-rotating), the manipulator closure, catch and grabbed together upset of thing, even running one segment distance, finish other working procedure after, manipulator overturns with gripping object, cam is equally controlled master arm once again as described above, and the manipulator unlatching is unloaded the material rotating disk and rotated a circle, and finishes the work of a workshop section.The flip-flop movement of prior art is finished like this.Connect the gusset piece that can on rotating disk, rotate on the centre of gyration of the gear pair between the master and slave swing arm, fix a pull bar on the gusset piece, pull bar connects with another cam through gum cover, and the centre of gyration that control gusset piece and master arm, slave arm on it rotate on coiling is done 180 ° rotation.Its weak point is that the motion that pull bar is made horizontal direction is controlled in the motion that the upset cam should be controlled the vertical direction up and down of pull bar again, and it is generally made by pipe, the curve more complicated, and profile is huge, makes difficulty; The distance of gusset piece between the center of the centre of gyration on the rotating disk and gripper is big, and the main frame volume that causes adopting this roll-over type mechanical arm to make parts is big, and floor space is also big, the cost height; Cam and pull bar gum cover are dry friction, produce tiny wear particle, the precision of influence control and pollution working environment.

The utility model content

Problem to be solved in the utility model just is: at the technical problem that prior art exists, the utility model provide a kind of simple and compact for structure, cheap for manufacturing cost, little, stable and reliable operation roll-over type mechanical arm takes up room.

For solving the problems of the technologies described above, the solution that the utility model proposes is: a kind of roll-over type mechanical arm, it is characterized in that: it comprises master arm, slave arm, upset control cam, clamp the control cam, fastening spring, left side pawl and right pawl, master arm is fixed on the rotating disk by the active arm axle, slave arm is fixed on the rotating disk by driven arm axle, by left pawl rotating shaft left pawl is installed on one end of master arm, the other end of master arm links to each other with an end of slave arm by gear pair, by right pawl rotating shaft right pawl is installed on the other end of slave arm, left side pawl rotating shaft links to each other with the turnover transmission rig that is used for controlling left pawl rotating shaft rotation, and described turnover transmission rig is controlled cam and contacted cooperation with overturning.

Described turnover transmission rig comprises turning gear and tooth bar, described turning gear links to each other with left pawl rotating shaft, the tooth bar that is used for cooperating with turning gear is installed on the master arm, and master arm contacts cooperation with clamping the control cam, and an end of tooth bar contacts cooperation with upset control cam.

Be installed with slide block on the described master arm, offer chute on the tooth bar, tooth bar is sheathed on the slide block by chute.

Described upset control cam is a plane cam.

Described upset control cam and clamping control cam are integrally formed.

End on the described master arm contacts cooperation by the master arm roller with clamping the control cam, and described master arm roller is fixed on the master arm by the master arm roller shaft; One end of described tooth bar contacts cooperation by the tooth bar roller with upset control cam, and described tooth bar roller is fixed on the tooth bar by the gear roller shaft.

Compared with prior art, advantage of the present utility model just is: roll-over type mechanical arm of the present utility model, compact conformation, reasonable, low cost of manufacture.The cam that the mechanical handspring of control is changeed is designed to plane cam by space cam, the invert center of manipulator is by the centre of gyration of gusset piece on rotating disk of fixing master and slave swing arm, the coupling spindle that improvement is designed to left and right gripper and principal and subordinate's swing arm is the centre of gyration, the centre-to-centre spacing of the centre of gyration and gripper and turn over bottle time and shorten dramatically, bottle anglec of rotation of turning over of prior art is about 75 degree, and this structure to turn over bottle anglec of rotation only be 5 degree, leave the time of saving for next procedure.

Description of drawings

Fig. 1 is a main TV structure schematic diagram of the present utility model;

Fig. 2 is the structural representation of looking up of the present utility model;

Fig. 3 is a kind of working state schematic representation of the present utility model;

Fig. 4 is an another kind of working state schematic representation of the present utility model.

Marginal data

1, master arm 2, slave arm

3, upset control cam 4, clamping control cam

5, fastening spring 6, active arm axle

7, driven arm axle 8, left pawl rotating shaft

9, right pawl rotating shaft 10, left pawl

11, right pawl 12, turning gear

13, tooth bar 14, slide block

15, rotating disk 16, gear pair

17, chute 18, master arm roller

19, master arm roller shaft 20, tooth bar roller

21, tooth bar roller shaft

The specific embodiment

Below with reference to the drawings and specific embodiments the utility model is described in further details.

As depicted in figs. 1 and 2, a kind of roll-over type mechanical arm of the present utility model, it comprises master arm 1, slave arm 2, upset control cam 3, clamp control cam 4, fastening spring 5, left side pawl 10 and right pawl 11, master arm 1 is fixed on the rotating disk 15 by active arm axle 6, slave arm 2 is fixed on the rotating disk 15 by driven arm axle 7, by left pawl rotating shaft 8 left pawl 10 is installed on one end of master arm 1, the other end of master arm 1 links to each other with an end of slave arm 2 by gear pair 16, by right pawl rotating shaft 9 right pawl 11 is installed on the other end of slave arm 2, the turnover transmission rig that is used for controlling left pawl rotating shaft 8 rotations links to each other, and described turnover transmission rig is controlled cam 3 with upset and contacted cooperation.In the present embodiment, turnover transmission rig comprises turning gear 12 and tooth bar 13, described turning gear 12 links to each other with left pawl rotating shaft 8, the tooth bar 13 that is used for cooperating with turning gear 12 is installed on the master arm 1, master arm 1 contacts cooperation with clamping control cam 4, and an end of tooth bar 13 contacts cooperation with upset control cam 3.Left side pawl rotating shaft 8 and right pawl rotating shaft 9 have same axis heart line, when left pawl rotating shaft 8 rotates, can drive right pawl rotating shaft 9 and rotate synchronously.In the present embodiment, end on the master arm 1 contacts cooperation by master arm roller 18 with clamping control cam 4, master arm roller 18 is fixed on the master arm 1 by master arm roller shaft 19, tooth bar 13 an end control cam 3 by tooth bar roller 20 with upset and contact cooperation, tooth bar roller 20 is fixed in an end of tooth bar 13 by tooth bar roller shaft 21.In preferred embodiment, be installed with slide block 14 on the master arm 1, offer chute 17 on the tooth bar 13, tooth bar 13 is sheathed on the slide block 14 by chute 17, tooth bar 13 can move by chute 17 and cooperating with respect to master arm 1 of slide block 14, rotated thereby promote turning gear 12.Referring to illustrated in figures 1 and 2, can also further upset control cam 3 be designed to plane cam, and the control cam 3 that will overturn is integrally formed with clamping control cam 4, wherein the outside is for being used for contact with master arm 1 the clamping control cam 4 that cooperates, and inboardly controls cam 3 for the upset that is used for contact with tooth bar 13 cooperation.Help compact conformation like this, reduce member, reducing production costs clamps control cam 4 and upset control cam 3 and is fixed in and keeps motionless on the central shaft, and rotating disk 15 can rotate around the central shaft that clamps control cam 4 and upset control cam 3.Simultaneously, rotating disk 15 drives master arm 1 and slave arm 2 rotations that are fixed thereon.Pawl rotating shaft 8 can be by as a whole with turning gear 12, and master arm 1 and gear pair 16 also can as a whole.When rotating disk 15 rotates, master arm roller 18 contacts with clamping control cam 4, master arm 1 is around active arm axle 6 rotating certain angle clockwise, slave arm 2 rotates around driven arm axle 7 anticlockwises under the transmission of gear pair 16, the left pawl 10 and the right pawl 11 that are individually fixed on master arm 1 and the slave arm 2 are opened, but discharging this moment or charging.Then, under the acting in conjunction that clamps the fastening spring 5 between control cam 4 and master arm 1, the slave arm 2, master arm 1, slave arm 2 are retracted, the gripper closure, but the material between the gripper has well been advanced in clamping.When tooth bar roller 19 contacts with upset control cam 3, tooth bar 13 under the cooperation of chute 17 and slide block 14 with respect to master arm 1 motion, until cooperating with turning gear 12, drive turning

gear

12 and 8 rotations of left pawl rotating shaft, finally finish

left pawl

10 and 11 upsets of right pawl.The upset that is manipulator is meshed by the tooth bar 13 of upset control cam 3 control moving linearlies and the turning gear 12 that is fixedly connected on left pawl rotating shaft 8 by being installed on the master arm 1, tooth bar 13 drives turning gears 12 Rotate 180s °, its center rotates to B by A, if gripping object is a bottle class, upset back bottleneck and the bottle end towards exchanging just.Otherwise tooth bar 13 drives 180 ° of turning gear 12 reverse rotations, and its center rotates to A by B, and the bottle class is got back to the origin-location again, and above-mentioned two kinds of positions as shown in Figure 3, Figure 4.

Operation principle: when rotating disk 15 when clamping the central shaft rotation of control cam 4 and upset control cam 3, clamp control cam 4 and promote master arm roller 18, drive master arm 1 and turn over certain angle around the center of active arm axle 6, gear pair 16 on the master arm 1 drives slave arm 2 and turns over respective angles, left pawl 10 and the right pawl 11 that be individually fixed on master arm 1 and the slave arm 2 this moment open the extracting material, clamp material thereby rely on clamping control cam 4 and fastening spring 5 that master arm 1 and slave arm 2 are resetted then.Simultaneously, tooth bar roller 20 contacts with upset control cam 3, drive tooth bar 13 moving linearly in slide block 14, thereby drive left pawl rotating shaft 8 Rotate 180 degree, make left pawl 10 and right pawl 11 clamping materials overturnings 180 degree (promptly turning to center B) from center A by turning gear 12.The upset of this manipulator the time only is left pawl 10 and right pawl 11 (this moment they clamping got well material) around the common center lines revolution of left pawl rotating shaft 8, right pawl rotating shaft 9, compare around the centre of gyration upset of a gusset piece at rotating disk 15 with all-in-one-piece master and slave swing arm (comprising gripper), the radius of gyration is very little.

The above only is a preferred implementation of the present utility model, and protection domain of the present utility model also not only is confined to the foregoing description, and all technical schemes that belongs under the utility model thinking all belong to protection domain of the present utility model.Should be understood that; for those skilled in the art; in the some improvements and modifications that do not break away under the utility model principle prerequisite; for example turnover transmission rig adopts the compound mode of sprocket wheel and chain; power is passed to the sprocket wheel that links to each other with left pawl rotating shaft 8 by chain; thereby drive its rotation etc., these improvements and modifications also should be considered as protection domain of the present utility model.

Claims

1, a kind of roll-over type mechanical arm, it is characterized in that: it comprises master arm (1), slave arm (2), upset control cam (3), clamp control cam (4), fastening spring (5), turnover transmission rig, left side pawl (10) and right pawl (11), master arm (1) is fixed on the rotating disk (15) by active arm axle (6), slave arm (2) is fixed on the rotating disk (15) by driven arm axle (7), by left pawl rotating shaft (8) left pawl (10) is installed on one end of master arm (1), the other end of master arm links to each other with an end of slave arm (2) by gear pair (16), by right pawl rotating shaft (9) right pawl (11) is installed on the other end of slave arm (2), left side pawl rotating shaft (8) links to each other with the turnover transmission rig that is used for controlling left pawl rotating shaft (8) rotation, and described turnover transmission rig is controlled cam (3) and contacted cooperation with overturning.

2, roll-over type mechanical arm according to claim 1, it is characterized in that: described turnover transmission rig comprises turning gear (12) and tooth bar (13), described turning gear (12) links to each other with left pawl rotating shaft (8), the tooth bar (13) that is used for cooperating with turning gear (12) is installed on the master arm (1), master arm (1) contacts cooperation with clamping control cam (4), and an end of tooth bar (13) contacts cooperation with upset control cam (3).

3, roll-over type mechanical arm according to claim 2 is characterized in that: be installed with slide block (14) on the described master arm (1), offer chute (17) on the tooth bar (13), tooth bar (13) is sheathed on the slide block (14) by chute (17).

4, according to claim 1 or 2 or 3 described roll-over type mechanical arms, it is characterized in that: described upset control cam (3) is plane cam.

5, roll-over type mechanical arm according to claim 4 is characterized in that: described upset control cam (3) and clamping control cam (4) are integrally formed.

6, according to claim 1 or 2 or 3 described roll-over type mechanical arms, it is characterized in that: the end on the described master arm (1) contacts cooperation by master arm roller (18) with clamping control cam (4), and described master arm roller (18) is fixed on the master arm (1) by master arm roller shaft (19); One end of described tooth bar (13) contacts cooperation by tooth bar roller (20) with upset control cam (3), and described tooth bar roller (20) is fixed on the tooth bar (13) by gear roller shaft (21).

7, roll-over type mechanical arm according to claim 5, it is characterized in that: the end on the described master arm (1) contacts cooperation by master arm roller (18) with clamping control cam (4), and described master arm roller (18) is fixed on the master arm (1) by master arm roller shaft (19); One end of described tooth bar (13) contacts cooperation by tooth bar roller (20) with upset control cam (3), and described tooth bar roller (20) is fixed on the tooth bar (13) by gear roller shaft (21).