CN201752888U

CN201752888U - Mechanical arm capable of moving quickly and stably

Info

Publication number: CN201752888U
Application number: CN2010201691894U
Authority: CN
Inventors: 许振相
Original assignee: Dongguan Primax Electronic & Telecommunication Products Co Ltd
Current assignee: Dongguan Primax Electronic & Telecommunication Products Co Ltd
Priority date: 2010-04-16
Filing date: 2010-04-16
Publication date: 2011-03-02
Anticipated expiration: 2020-04-16

Abstract

The utility model relates to the technical field of mechanical arms, in particular to a mechanical arm capable of moving quickly and stably. The mechanical arm comprises a base, at least three sets of moving arms and an actuating part, wherein the three sets of moving arms are mounted on the base, one end of each set of moving arm is pivotally connected to the base and in linkage with a driving part mounted on the base, the other end of each of the three moving arms is connected to the actuating part, and the actuating part moves in space by aid of coaction of the three sets of moving arms. The actuating part is driven to run by the three sets of moving arms which are stable, and the three sets of moving arms are driven to run by aid of the driving parts, thereby realizing stable and quick operation of the actuating part. Components such as clamps and manipulators are fixed on the actuating part when the mechanical arm capable of moving quickly and stably is used, so that products required to be processed can be gripped or shifted by the clamps or manipulators.

Description

But the mechanical arm that a kind of quick and stable moves

Technical field:

The utility model relates to the mechanical arm technical field, but refers in particular to the mechanical arm that a kind of quick and stable moves.

Background technology:

Along with development of science and technology, automation equipment has progressively replaced manual work, particularly in some repeated electronic product assemblings, installation process, adopt robotic arm to replace manual work and not only can enhance productivity, improve the qualification rate of product, and can reduce the cost of labor in the process of producing product greatly.

Usually, in order to reduce production costs, manufacturing enterprise designs the comparatively simple mechanical arm of some structures usually.This mechanical arm is for the higher mechanical arm of precision, and its manufacturing cost is cheap relatively many, but also can realize the operation of automation.For example common mechanical arm has by hydraulic pressure, oil pressure, air pressure mode realizes transmission, mechanical arm by hydraulic unit realize waving, flexible stroke, the manipulator that drives the mechanical arm end is realized the operations such as transfer of object.Perhaps by the control of hydraulic unit drivening rod mechanism realization to mechanical arm.See that China Patent No. is 98251626.6 utility model patent specification, it discloses a kind of telescopic arm three-jaw manipulator, and its technical scheme that adopts is to connect positioning cam in the top of telescopic arm one, and by three manipulators of positioning cam and driving.Be used to grasp object by three manipulators.In addition, with China Patent No. is the utility model specification of 200620086859.X, it discloses a kind of manipulator arm, its technical scheme that adopts is: manipulator drives by telescopic oil cylinder, hoist cylinder, and its mechanical arm is formed by a plurality of parallel four-bar linkages, drives thoughts by telescopic oil cylinder and hoist cylinder and drives moving of the whole mechanical arm of realization.

In above-mentioned two technical schemes, its mechanical arm structure is comparatively simple, also can realize some automatic jobs, but its defective that exists some to be difficult to overcome.In its course of work, the shift motion precision of mechanical arm is difficult to control, in and can't realize sharp work, if improve the running stability that its speed of service just must be sacrificed mechanical arm.So these manipulators are difficult to be widely used in large-scale manufacturing industry, particularly can't be applied in the electronic product industry that production efficiency, product assembly precision are had relatively high expectations.

The utility model content:

Technical problem to be solved in the utility model is exactly in order to overcome the deficiency of present mechanical arm product, but the mechanical arm that provides a kind of quick and stable to move, this mechanical arm can be realized fast, move stably by simple structure, and its simple structure can reduce production costs greatly simultaneously.

For solving the problems of the technologies described above, the utility model has adopted following technical scheme: this mechanical arm comprises pedestal, is installed at least three group lever arm and work packages on the pedestal, wherein an end of every group of lever arm is articulated on the pedestal, and with the actuator interlock that is installed on the pedestal, the other end of three lever arms all is connected on the work package, and work package is by moving in the acting in conjunction implementation space of three groups of lever arms.

In described three groups of lever arms, wherein form two extension arms on the swing component in two groups of lever arms, wherein first extension arm and drive link articulate, and second extension arm is connected with quadrilateral connecting rod; Form an extension arm on the swing component of the 3rd group of lever arm, drive link is articulated in the middle of the extension arm, and quadrilateral connecting rod is connected the end of extension arm.

Described quadrilateral connecting rod comprises a pair of stock and the brace that stock laterally is connected, and wherein an end of stock is connected on second extension arm or extension arm of swing component by universal knot, and the other end of stock is connected on the work package by universal knot.

Described actuator comprises: linear motor, with the reducing gear of linear motor output shaft interlock, with the rocking arm of reducing gear interlock and the drive link that articulates with rocking arm, wherein rocking arm is articulated in pedestal and is fixedly coupled on the seat.

The arm of force length ratio of second extension arm or extension arm is 3: 1 in stock in the described quadrilateral connecting rod and the swing component.

Three groups of stable lever arms of the utility model employing drive the work packages operation, thereby drive steady, the operation fast that three groups of lever arms operations realize work packages by the rotation of actuator.When using the utility model parts such as anchor clamps, manipulator are fixed on the work package, grasping or move by anchor clamps, manipulator needs product processed.

After the utility model adopts technique scheme, because it adopts motor to drive three groups of lever arms respectively, the rotational angle of motor is controlled the pendulum angle of these three lever arms, affect mutually owing to three lever arms simultaneously, any one lever arm changes its angle all can be subjected to pining down of two other lever arm, so can control the level of work package, vertical displacement accurately, stably.In addition, because the pendulum angle of lever arm can be by the anglec of rotation control of motor, and motor can drive the lever arm operation fast, thus the utility model can realize to work package fast, precisely control.Simultaneously, this utility structure is simple, and production cost is lower.

Description of drawings:

Fig. 1 is a stereogram of the present utility model;

Fig. 2 is a front view of the present utility model;

Fig. 3 is a vertical view of the present utility model;

Fig. 4 is the stereogram of a lever arm in the utility model.

The specific embodiment:

See Fig. 1-3, the utility model comprises: pedestal 1, be installed in three groups of lever arms 2 and work package 3 on the pedestal 1.Wherein an end of every group of lever arm 2 is articulated on the pedestal 1, and with actuator 4 interlocks that are installed on the pedestal 1, the other end of three lever arms 2 all is connected on the work package 3, work package 3 is by moving in the acting in conjunction implementation space of three lever arms 2.

Particularly, pedestal 1 is a metallic plate, evenly offers three breach 10 at its edge, and breach 10 positions are used for the installation and the interlock of actuator 4 and lever arm.Actuator 4 is installed in the top of pedestal 1 by Connection Block 12, and lever arm 2 is installed in the below of pedestal 1 by support member 11.

Lever arm 2 comprises: mutual swing component and the quadrilateral connecting rod 22 that articulates, and wherein swing component is articulated on the support member of fixing with pedestal 1 11, and swing component is by a drive link 41 and actuator 4 interlocks; Described quadrilateral connecting rod 22 1 ends are connected with swing component, and the other end is connected on the work package 3.

In described three groups of lever arms 2, wherein form two extension arms on the swing component 21 in two groups of lever arms, promptly these two swing components 21 are " Y " font, and wherein first extension arm 211 articulates with drive link 41, and second extension arm 212 is connected with quadrilateral connecting rod 22; Swing component 21 ' on the 3rd group of lever arm 2 forms an extension arm 213, and drive link 41 is articulated in the middle of the extension arm 213, and quadrilateral connecting rod 22 is connected the end of extension arm 213.Through test, the arm of force length ratio of the extension arm 213 in stock 22 in the described quadrilateral connecting rod 22 and the swing component 21 in second extension arm 212 or the swing component 21 ' is traditionally arranged to be 3: 1, can make the scope of activities of whole mechanical arm less like this, and be convenient to the scope of activities of calculating machine arm, improve its accuracy.

Referring to Fig. 4, above-mentioned quadrilateral connecting rod 22 comprises a pair of stock 221 and the brace 222 that stock 221 laterally is connected.Why adopt quadrilateral connecting rod, be because this mechanism is a unstable linkage, when lever arm 2 in swing process, two stocks 221 form certain interlocking under brace 222 limits, can carry out suitable adjusting to lever arm 2 scopes of activities, angle by quadrilateral connecting rod 22 like this, more steady to make lever arm 2 at the running that drives work package 3.

In order further to regulate the scope of activities of lever arm 2, an end of stock 221 is connected on second extension arm 212 of swing component 21 by universal knot or on the extension arm 213 of swing component 21 ', the other end of stock 221 is connected on the work package 3 by universal knot.Adopt universal knot to make and be connected more flexibly between quadrilateral connecting rod 22 and swing component 21,21 ', the work package 3, make lever arm 2 that the skew surplus of side direction also can be arranged in swing process, make lever arm 2 more steady at the running that drives work package 3.

Work package 3 in the utility model can be the platform of anchor clamps, manipulator or stationary fixture, manipulator.When using the utility model parts such as anchor clamps, manipulator are fixed on the work package, grasping or move by anchor clamps, manipulator needs product processed.This actuator 4 comprises: linear motor (scheming not shown), with the reducing gear (scheme not shown) of linear motor output shaft interlock, with the Rocker arm 42 of reducing gear interlock and the drive link 41 that articulates with Rocker arm 42, wherein Rocker arm 42 is articulated in pedestal 1 and is fixedly coupled on 12.When linear motor drove Rocker arm 42 swings through reducing gear, Rocker arm 42 drove drive link 41 and moves up and down, thereby drove extension arm 213 swings of first extension arm 41 or the swing component 21 ' of swing component 21, and drove whole lever arm 2 operations.

Three groups of stable lever arms of the utility model employing 2 drive work packages 3 operations, thereby drive steady, the operation fast that 2 operations of three groups of lever arms realize work packages 3 by the rotation of actuator 4.During use, three linear motors drive three groups of lever arms 2 respectively, the rotational angle of linear motor is controlled the pendulum angle of these three lever arms 2, affect mutually owing to three lever arms 2 simultaneously, any one lever arm 2 changes its angle and all can be subjected to pining down of two other lever arm 2, so can control the level of work package 3, vertical displacement accurately, stably.In addition, because the pendulum angle of lever arm 2 can be by the anglec of rotation control of linear motor, and motor can drive lever arm 2 operations fast, thus the utility model can realize to work package fast, precisely control.

Certainly, the above only is the utility model example, be not to limit the utility model practical range, all equivalences of doing according to the described structure of the utility model claim, feature and principle change or modify, and all should be included in the utility model claim.

Claims

1. but mechanical arm that quick and stable moves, it is characterized in that: this mechanical arm comprises: pedestal (1), be installed at least three group lever arms (2) and work package (3) on the pedestal (1), wherein an end of every group of lever arm (2) is articulated on the pedestal (1), and with actuator (4) interlock that is installed on the pedestal (1), the other end of three groups of lever arms (2) all is connected on the work package (3), and work package (3) is by moving in the acting in conjunction implementation space of three groups of lever arms (2).

2. but the mechanical arm that a kind of quick and stable according to claim 1 moves, it is characterized in that: described lever arm (2) comprising: mutual swing component (21 or 21 ') and the quadrilateral connecting rod (22) that articulates, wherein swing component (21 or 21 ') is articulated on the support member of fixing with pedestal (1) (11), and swing component (21 or 21 ') is by a drive link (41) and actuator (4) interlock; Described quadrilateral connecting rod (22) one ends are connected with swing component (21 or 21 '), and the other end is connected on the work package (3).

3. but the mechanical arm that a kind of quick and stable according to claim 2 moves, it is characterized in that: in described three groups of lever arms (2), wherein form two extension arms on the swing component (21) in two groups of lever arms, wherein first extension arm (211) articulates with drive link (41), and second extension arm (212) is connected with quadrilateral connecting rod (22); Swing component (21 ') on the 3rd group of lever arm forms an extension arm (213), and drive link (41) is articulated in the middle of the extension arm (213), and quadrilateral connecting rod (22) is connected the end of extension arm (213).

4. but the mechanical arm that moves according to claim 2 or 3 described a kind of quick and stable, it is characterized in that: described quadrilateral connecting rod (22) comprises a pair of stock (221) and the brace (222) that stock (221) laterally is connected, wherein an end of stock (221) is connected on second extension arm (212) or extension arm (213) of swing component (21 or 21 ') by universal knot, and the other end of stock (221) is connected on the work package (3) by universal knot.

5. but the mechanical arm that a kind of quick and stable according to claim 4 moves, it is characterized in that: described actuator (4) comprising: linear motor, with the reducing gear of linear motor output shaft interlock, with the rocking arm (42) of reducing gear interlock and the drive link (41) that articulates with rocking arm (42), wherein rocking arm (42) is articulated in pedestal (1) and is fixedly coupled on the seat (12).

6. but the mechanical arm that a kind of quick and stable according to claim 4 moves is characterized in that: the arm of force length ratio of second extension arm (212) or extension arm (213) is 3: 1 in stock (221) in the described quadrilateral connecting rod (22) and the swing component (21 or 21 ').