CN202878307U

CN202878307U - Automation equipment and mechanical arm for carrying workpiece thereof

Info

Publication number: CN202878307U
Application number: CN 201220498116
Authority: CN
Inventors: 彭招; 黄海江; 张晶; 周红军; 廖文珍
Original assignee: Shenzhen Zhengtong Electronics Co Ltd
Current assignee: Shenzhen Zhengtong Electronics Co Ltd
Priority date: 2012-09-26
Filing date: 2012-09-26
Publication date: 2013-04-17
Anticipated expiration: 2022-09-26

Abstract

Provided is automatic equipment and a mechanical arm for carrying a workpiece of the automatic equipment. The automatic equipment and the mechanical arm for carrying the workpiece of the automatic equipment comprise a drive unit, a first swing arm, a second swing arm, a vertical guide rail, a sliding seat and a transverse guide rail. The first swing arm is driven by the drive unit in a rotating mode. The second swing arm is rotatablely connected with the first swing arm. The vertical guide rail is fixedly connected with the second swing arm. The sliding seat is matched with the vertical guide rail. The transverse guide rail is matched with the sliding seat. The transverse guide rail and the vertical guide rail are perpendicular to each other, and are respectively arranged on two opposite sides of the sliding seat, and therefore the drive unit is capable of driving the free end of the vertical guide rail to move along an arc curve in a pendulum mode. The automatic equipment and the mechanical arm for carrying the workpiece of the automatic equipment have the advantages of being capable of picking up a workpiece and moving along the arc curve in the pendulum mode, simple in structure, low in cost and simple in control.

Description

Automation equipment and conveyance workpiece mechanical arm thereof

Technical field

The utility model relates to automation equipment, and is particularly relevant with workpiece delivery mechanism in the automation equipment.

Background technology

Workpiece delivery mechanism in the existing automation equipment adopts conveyance workpiece mechanical arm usually, and it is made of the two dimensional motion structure of X-Y axle transverse moving mechanism and vertical travel mechanism.Existing this conveyance workpiece mechanical arm, need to dispose respectively a horizontal drive motor and vertical drive motors and realize the action of mechanical arm, and need the corresponding line slideway of configuration and actuated element, there are complex structure, cost height and the complicated problem of control.As seen, be necessary to make improvements in fact.

The utility model content

Main purpose of the present utility model is to provide a kind of automation equipment and conveyance mechanical arm thereof, can simplified structure, reduce cost, and control is simple.

To achieve these goals, the utility model proposes a kind of conveyance workpiece mechanical arm, comprise a driver element, one first swing arm by this driver element rotary actuation, one second swing arm that rotatably links to each other with this first swing arm, a vertical guide that is fixedly connected with this second swing arm, a sliding seat that matches with this vertical guide, a cross slide way that matches with this sliding seat, this cross slide way is to divide mutual vertically the relative both sides that are listed in this sliding seat with vertical guide, does the action of pendulum model along circular curve thereby this driver element is the free end that can order about this vertical guide.

One end of this first swing arm links to each other with this driver element, the other end and this second swing arm articulate.

The other end of this first swing arm is equipped with a pivot, and this second swing arm correspondence is provided with the pivot hole of matching with this pivot.

This conveyance workpiece also comprises a bearing with mechanical arm, and it is installed in this pivot hole and is set on this pivot.

This conveyance workpiece also comprises an installing plate with mechanical arm, and this cross slide way is to be fixed on this installing plate.

This sliding seat comprises a plate and is installed in the transverse slider that matches with this cross slide way on this connecting plate and the vertical slide block that matches with this vertical guide.

This driver element comprises a motor, and the output shaft of this motor links to each other with this first swing arm.

This conveyance workpiece also comprises a lost article found unit of the free end that is installed in this vertical guide with mechanical arm.

This lost article found unit is paw, sucker or electromagnet.

To achieve these goals, the utility model also proposes a kind of automation equipment, comprises aforesaid conveyance workpiece mechanical arm.

Compared with prior art, automation equipment of the present utility model and conveyance workpiece mechanical arm thereof, cooperate the action of doing pendulum model with picking up work piece along circular curve by driver element, the first swing arm, the second swing arm, sliding seat, vertical guide and cross slide way ingenious, simple in structure, cost is lower, and control is simpler.

Description of drawings

Fig. 1 is the stereogram that automation equipment of the present utility model and conveyance workpiece thereof are used mechanical arm embodiment.

Fig. 2 to Fig. 4 is that conveyance workpiece of the present utility model is illustrated with the operation principle of mechanical arm embodiment, and wherein, Fig. 2 is corresponding to the carrying starting point, and Fig. 3 is corresponding to the carrying mid point, and Fig. 4 is corresponding to the carrying terminal point.

Wherein, description of reference numerals is as follows: 1 motor; 2 installing plates; 3 first swing arms; 4 pivots; 5 bearings; 6 second swing arms; 7 vertical guide, 71 free ends; 8 sliding seats; 9 cross slide waies; A carrying track starting point; B carrying track mid point; C carries final on trajectory; The D direction of rotation.

The specific embodiment

In order to describe structure of the present utility model and characteristics place in detail, hereby lift following preferred embodiment and cooperate description of drawings as follows.

Referring to Fig. 1, automation equipment of the present utility model and conveyance workpiece thereof roughly comprise with mechanical arm embodiment: a motor 1, one first swing arm 3 by this motor 1 rotary actuation, one second swing arm 6 that rotatably links to each other with this first swing arm 3, a vertical guide 7 that is fixedly connected with this second swing arm 6, a sliding seat 8 that matches with this vertical guide 7, a cross slide way 9 that matches with this sliding seat 8, this cross slide way 9 is to divide mutual vertically the relative both sides that are listed in this sliding seat 8 with vertical guide 7, does the action of pendulum model along circular curve thereby this motor 1 is the free end 71 that can order about this vertical guide 7.

Particularly, an end of this first swing arm 3 links to each other with the output shaft (scheming not shown) of this motor, the other end and this second swing arm 6 articulate.Preferably, the other end of this first swing arm 3 is equipped with a pivot 4, and these the second swing arm 6 correspondences are provided with the pivot hole of matching with this pivot 4, is equiped with a bearing 5 in this pivot hole, and it is set on this pivot 4.

Conveyance workpiece mechanical arm of the present utility model also can comprise an installing plate 2, in order to fix this cross slide way 9.In addition, motor 1 also can be installed on this installing plate 2, can offer axis hole at this installing plate 2 particularly, wears and is fixedly connected with this first swing arm 3 with the output shaft correspondence of power supply machine 1.

This sliding seat 8 comprises a plate and is installed in transverse slider on this connecting plate, that match with this cross slide way 9 and the vertical slide block that matches with this vertical guide 7.

Conveyance workpiece mechanical arm of the present utility model also can comprise the lost article found unit such as paw, sucker or electromagnet (scheming not shown) at free end 71 places that are installed in this vertical guide 7.

Referring to Fig. 2 to Fig. 4, conveyance workpiece of the present utility model roughly comprises with the operation principle of mechanical arm:

Initially, the free end 71 of this vertical guide 7 is positioned at starting point A place, and at this moment the first swing arm 3 is mutually vertical with the second swing arm 6, and sliding seat 8 is positioned at the left end of cross slide way 9 and is positioned at the top of vertical guide 7; Under the rotarily driving of motor 1, namely the axle of motor 1 rotates along direction of rotation D, can make sliding seat 8 move and move to the free end of vertical guide 7 to the right-hand member of cross slide way 9;

When the free end 71 of this vertical guide 7 arrived mid point B place, the first swing arm 3 and the second swing arm 6 were parallel to each other, and sliding seat 8 is positioned at the middle part of cross slide way 9 and is positioned at the middle part of vertical guide 7; Motor 1 continue rotarily drive down, can make sliding seat 8 continue to move and move to the top of vertical guide 7 to the right-hand member of cross slide way 9;

When the free end 71 of this vertical guide 7 was reached home the C place, the first swing arm 3 was mutually vertical with the second swing arm 6, and at this moment starting point has been to have rotated 180 degree relatively, and sliding seat 8 is positioned at the right-hand member of cross slide way 9 and is positioned at the top of vertical guide 7.

So, workpiece can be transported to the C point from the A point.Motor 1 controlled anti-turnback can be oppositely by return to origin A place, terminal point C place.

Compared with prior art, automation equipment of the present utility model and conveyance workpiece mechanical arm thereof, cooperate the action of doing pendulum model with picking up work piece along circular curve by motor 1, the first swing arm 3, the second swing arm 6, sliding seat 8, vertical guide 7 and cross slide way 9 ingenious, simple in structure, cost is lower, and control is simpler.

More than, be the preferred embodiment of the utility model only, be intended to further specify the utility model, but not it is limited.All simple replacements of carrying out according to above-mentioned literal and the disclosed content of accompanying drawing, such as: change above-mentioned motor the driver element of driving elements such as comprising cylinder, fluid cylinder into, all at the row of the rights protection scope of this patent.

Claims

1. conveyance workpiece mechanical arm, it is characterized in that: comprise a driver element, one first swing arm by this driver element rotary actuation, one second swing arm that rotatably links to each other with this first swing arm, a vertical guide that is fixedly connected with this second swing arm, a sliding seat that matches with this vertical guide, a cross slide way that matches with this sliding seat, this cross slide way is to divide mutual vertically the relative both sides that are listed in this sliding seat with vertical guide, does the action of pendulum model along circular curve thereby this driver element is the free end that can order about this vertical guide.

2. conveyance workpiece mechanical arm according to claim 1 is characterized in that: an end of this first swing arm links to each other with this driver element, the other end and this second swing arm articulate.

3. conveyance workpiece mechanical arm according to claim 2, it is characterized in that: the other end of this first swing arm is equipped with a pivot, and this second swing arm correspondence is provided with the pivot hole of matching with this pivot.

4. conveyance workpiece mechanical arm according to claim 3, it is characterized in that: this conveyance workpiece also comprises a bearing with mechanical arm, it is installed in this pivot hole and is set on this pivot.

5. conveyance workpiece mechanical arm according to claim 1, it is characterized in that: this conveyance workpiece also comprises an installing plate with mechanical arm, this cross slide way is to be fixed on this installing plate.

6. conveyance workpiece mechanical arm according to claim 1, it is characterized in that: this sliding seat comprises a plate and is installed in the transverse slider that matches with this cross slide way on this connecting plate and the vertical slide block that matches with this vertical guide.

7. conveyance workpiece mechanical arm according to claim 1, it is characterized in that: this driver element comprises a motor, the output shaft of this motor links to each other with this first swing arm.

8. conveyance workpiece mechanical arm according to claim 1, it is characterized in that: this conveyance workpiece also comprises a lost article found unit of the free end that is installed in this vertical guide with mechanical arm.

9. conveyance workpiece mechanical arm according to claim 8, it is characterized in that: this lost article found unit is paw, sucker or electromagnet.

10. an automation equipment is characterized in that: comprise such as the arbitrary described conveyance workpiece mechanical arm of claim 1 to 9.