CN203293202U - Automatically and finely adjustable mechanical arm - Google Patents
Automatically and finely adjustable mechanical arm Download PDFInfo
- Publication number
- CN203293202U CN203293202U CN2013203012675U CN201320301267U CN203293202U CN 203293202 U CN203293202 U CN 203293202U CN 2013203012675 U CN2013203012675 U CN 2013203012675U CN 201320301267 U CN201320301267 U CN 201320301267U CN 203293202 U CN203293202 U CN 203293202U
- Authority
- CN
- China
- Prior art keywords
- floating
- unsteady
- hole
- handgrip
- manipulator
- 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.)
- Withdrawn - After Issue
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to an automatically and finely adjustable mechanical arm. The automatically and finely adjustable mechanical arm is provided with a support and a vertical beam. The vertical beam is provided with a floating hand tool assembly; the floating hand tool assembly comprises a floating hand tool and a floating block, and the floating block and the floating hand tool are connected through a floating assembly; the floating assembly comprises an elastic body, a floating piece and a connection plate, wherein the elastic body, the floating body and the connection plate are sequentially arranged; the floating block is provided with an installment groove; the connecting plate is provided with a through hole corresponding to the installment groove, and the hole diameter of the through hole is smaller than that of the installment groove; the floating piece is composed of a big end portion and a column body portion, and the largest radial-direction width of the big end portion is between the hole diameter of the through hole and the hole diameter of the installment groove; the big end portion of the floating piece is located in the installment groove; the column body portion extends outwards from the through hole in the connection plate, and is fixedly connected with the floating hand tool; gaps are formed between the column body portion of the floating piece and the through hole of the connection plate; the connection plate is fixedly connected with the floating block. Because the floating hand tool can be automatically and finely adjusted to adapt with the current position of a workpiece, fine assembling can be achieved to achieve mechanical automation of precision assembling, and production efficiency is improved.
Description
Technical field
The utility model relates to a kind of manipulator, but particularly a kind of manipulator of automatic fine tuning.
Background technology
Manipulator is a kind of some action that can imitate staff and arm, is used for capturing, copying mechanically with fixed routine the automatic pilot of object or operation tool.Manipulator can replace people's heavy work to realize mechanization and the automation of producing, thereby is widely used in the fields such as machine-building, metallurgy, electronics, light industry and atomic energy.Yet when some precision parts were assembled, because assembly precision is had relatively high expectations, existing manipulator tended to and the deviation of assigned address with certain distance or certain angle, was difficult to accomplish that automatic fine tuning adapts to the current location of workpiece as artificial.Therefore, mostly adopt now manually-operated, for example, at automobile manufacturing field, piston is fixedly connected with vehicle spindle by pin, and this operation of wearing pin is usually by manually completing, and this must make production efficiency low, and production cost increases.
The utility model content
The technical problems to be solved in the utility model is: in order to overcome in prior art, in precision parts when assembling,, manipulator can't automatic fine tuning adapts to the deficiency of the current location of workpiece, but the utility model provides a kind of manipulator of automatic fine tuning.
The technical scheme that its technical problem that solves the utility model adopts is: but a kind of manipulator of automatic fine tuning, have support and the vertical beam that is fixed on support for base support, described vertical beam is provided with the handgrip assembly that floats, described unsteady handgrip assembly comprises float handgrip and rocker piece, and described rocker piece is connected by some uniform unsteady assemblies with unsteady handgrip;
described unsteady assembly comprises elastomer, floating part and connecting plate, have on described rocker piece be used to described elastomeric mounting groove is installed, have the through hole corresponding with mounting groove on described connecting plate, described through-hole aperture is less than the aperture of mounting groove, described floating part is comprised of enlarged head and trunk portion, and the radially Breadth Maximum of described enlarged head is between described through-hole aperture and mounting groove aperture, described elastomer one end is against the bottom land of mounting groove, the enlarged head of described floating part is positioned at mounting groove and against the elastomeric other end, the trunk portion of described floating part is stretched out and with unsteady handgrip, is fixedly connected with from the through hole on connecting plate, has gap between the trunk portion of described floating part and the through hole of connecting plate, described connecting plate is fixedly connected with described rocker piece.
For rocker piece and unsteady handgrip are fixed, be grabbed the free degree of workpiece on the handgrip that again can even regulation floats, and do not wasted the quantity of unsteady assembly, as a kind of reasonable Arrangement, described rocker piece and unsteady handgrip are connected by three groups of uniform unsteady assemblies.
For the handgrip assembly that floats can be moved reposefully up and down, described vertical beam is provided with guide rail, and described unsteady handgrip assembly is slidably connected by the guide rail of slide block and vertical beam, and described slide block is fixed on described unsteady handgrip assembly.
As a kind of type of drive, be fixed with cylinder on described vertical beam, described unsteady handgrip assembly passes through air cylinder driven.
For the lever of protecting cylinder is not easy to damage, described rocker piece is fixedly connected with the piston rod of described cylinder by floating junction.
As a kind of preferred, described floating part is up big and down small mushroom, namely the enlarged head of floating part and elastomer against end face be convex globoidal, comprise protruding sphere, the radial width of enlarged head is greater than the radial width of trunk portion.Because convex globoidal is a kind of gimbal structure, the enlarged head end face of floating part is set to convex globoidal, and the handgrip that floats is moved in space cone.The radial width of enlarged head is greater than the radial width of trunk portion, can make floating part have a stress surface of accepting with connecting plate, and the restriction handgrip that floats breaks away from rocker piece downwards.
As a kind of preferred, described elastomer is spring.
Principle of the present utility model is, in normally crawl situation, and due to Action of Gravity Field, the floating part enlarged head lower end abutment connecting plate in the assembly that floats, namely before not touching object, being grabbed workpiece and rocker piece is to be in relative static state; When being grabbed workpiece when arriving assigned address and assembling,, if a certain position has deviation, near the unsteady assembly of this position, will play a role, the trunk portion jack-up enlarged head of floating part, enlarged head passes to elastomer with power again, makes elastomer contracts; And have gap between the through hole due to the trunk portion of floating part and connecting plate, can allow floating part to produce the torsion of certain angle in through hole, thereby play the effect of fine setting.
The beneficial effects of the utility model are, but the manipulator of a kind of automatic fine tuning of the present utility model, when precision parts assembles, unsteady handgrip can be realized automatic fine tuning, to adapt to the current location of workpiece, make accurate assembling can realize the automation of machinery, improved production efficiency.
Description of drawings
Below in conjunction with drawings and Examples, the utility model is further illustrated.
But Fig. 1 is the structural representation of the optimum embodiment of manipulator of a kind of automatic fine tuning of the present utility model.
But Fig. 2 is the structural representation of unsteady handgrip assembly in the optimum embodiment of the manipulator of a kind of automatic fine tuning of the present utility model.
Fig. 3 is the partial enlarged drawing at A place in Fig. 2.
But Fig. 4 is the structural representation of unsteady handgrip assembly in the optimum embodiment of the manipulator of a kind of automatic fine tuning of the present utility model.
Fig. 5 is the B-B profile of Fig. 4.
In figure 1, vertical beam, 2, handgrip, 3, the handgrip that floats, 4, rocker piece, 4-1, mounting groove, 5, elastomer, 6, floating part, 6-1, enlarged head, 6-2, trunk portion, 7, connecting plate, 7-1, through hole, 8, guide rail, 9, slide block, 10, cylinder, 11, floating junction, 12, drag chain, 13, pin.
The specific embodiment
By reference to the accompanying drawings the utility model is described in further detail now.These accompanying drawings are the schematic diagram of simplification, basic structure of the present utility model only is described in a schematic way, so it only show the formation relevant with the utility model.
As Figure 1-5, but the optimum embodiment of the manipulator of a kind of automatic fine tuning of the present utility model, have the support (not shown in FIG.) for base support and be fixed on vertical beam 1 on support, vertical beam 1 is provided with handgrip 2, also be provided with on vertical beam 1 for the fine-tuning unsteady handgrip assembly of being grabbed freedom of workpiece that coordinates with handgrip 2, the handgrip assembly that floats comprises float handgrip 3 and rocker piece 4, and rocker piece 4 and unsteady handgrip 3 are connected by three groups of uniform unsteady assemblies.
Unsteady assembly comprises elastomer 5, floating part 6 and connecting plate 7, elastomer 5 is spring, have on rocker piece 4 for the mounting groove 4-1 that elastomer 5 is installed, have the through hole 7-1 corresponding with mounting groove 4-1 on connecting plate 7, through hole 7-1 aperture is less than the aperture of mounting groove 4-1, floating part 6 is the up big and down small mushroom that is comprised of enlarged head 6-1 and trunk portion 6-2, and the radially Breadth Maximum of enlarged head 6-1 is between through hole 7-1 aperture and mounting groove 4-1 aperture.
Vertical beam is provided with guide rail 8, and the handgrip assembly that floats is slidably connected by slide block 9 and the guide rail 8 of vertical beam 1, and slide block 9 is fixed on the handgrip assembly that floats.
Be fixed with cylinder 10 on vertical beam 1, the handgrip assembly that floats drives by cylinder 10.
Rocker piece 4 is fixedly connected with the piston rod of cylinder 10 by floating junction 11.
Also be connected with the drag chain 12 for lead-in wire between vertical beam 1 and unsteady handgrip assembly.
The pin of wearing that the utility model can be used for piston of automobile assembles, and handgrip 2 captures pistons, and this piston is delivered on jig, and the handgrip 3 that floats captures pin 13, with piston and main shaft on jig, assembles.Before capturing pin 13 and after capturing pin 13, due to Action of Gravity Field, the floating part enlarged head lower end abutment connecting plate in the assembly that floats, namely before not touching piston or main shaft, being grabbed workpiece and rocker piece is to be in relative static state; When pin 13 arrival assigned addresses assemble, if a certain position has deviation, the unsteady assembly of close this position will play a role, the trunk portion 6-2 jack-up enlarged head 6-1 of floating part 6, and enlarged head 6-1 passes to power elastomer 5 again, and elastomer 5 is shunk; And have gap between the through hole 7-1 due to the trunk portion 6-2 of floating part and connecting plate 7, can allow floating part to produce the torsion of certain angle in through hole 7-1, thereby play the effect of fine setting.
Take above-mentioned foundation desirable embodiment of the present utility model as enlightenment, by above-mentioned description, the relevant staff can in the scope that does not depart from this utility model technological thought, carry out various change and modification fully.The technical scope of this utility model is not limited to the content on specification, must determine its technical scope according to the claim scope.
Claims (7)
1. but the manipulator of an automatic fine tuning, have support and the vertical beam (1) that is fixed on support for base support, it is characterized in that: described vertical beam (1) is provided with the handgrip assembly that floats, described unsteady handgrip assembly comprises unsteady handgrip (3) and rocker piece (4), and described rocker piece (4) is connected by some uniform unsteady assemblies with unsteady handgrip (3);
described unsteady assembly comprises elastomer (5), floating part (6) and connecting plate (7), have on described rocker piece (4) be used to the mounting groove that described elastomer (5) are installed (4-1), have the through hole (7-1) corresponding with mounting groove (4-1) on described connecting plate (7), described through hole (7-1) aperture is less than the aperture of mounting groove (4-1), described floating part (6) is comprised of enlarged head (6-1) and trunk portion (6-2), and the radially Breadth Maximum of described enlarged head (6-1) is between described through hole (7-1) aperture and mounting groove (4-1) aperture, described elastomer (5) one ends are against the bottom land of mounting groove (4-1), the enlarged head (6-1) of described floating part (6) is positioned at mounting groove (4-1) and against the other end of elastomer (5), the trunk portion (6-2) of described floating part (6) is stretched out and with unsteady handgrip (3), is fixedly connected with from the through hole (7-1) on connecting plate (7), has gap between the trunk portion (6-2) of described floating part (6) and the through hole (7-1) of connecting plate (7), described connecting plate (7) is fixedly connected with described rocker piece (4).
2. but the manipulator of a kind of automatic fine tuning as claimed in claim 1 is characterized in that: described rocker piece (4) and unsteady handgrip (3) are connected by three groups of uniform unsteady assemblies.
3. but the manipulator of a kind of automatic fine tuning as claimed in claim 1, it is characterized in that: described vertical beam is provided with guide rail (8), described unsteady handgrip assembly is slidably connected by slide block (9) and the guide rail (8) of vertical beam (1), and described slide block (9) is fixed on described unsteady handgrip assembly.
4. but the manipulator of a kind of automatic fine tuning as claimed in claim 1 is characterized in that: be fixed with cylinder (10) on described vertical beam (1), described unsteady handgrip assembly drives by cylinder (10).
5. but the manipulator of a kind of automatic fine tuning as claimed in claim 4, it is characterized in that: described rocker piece (4) is fixedly connected with the piston rod of described cylinder (10) by floating junction (11).
6. but the manipulator of a kind of automatic fine tuning as claimed in claim 1, it is characterized in that: described floating part (6) is up big and down small mushroom.
7. but the manipulator of a kind of automatic fine tuning as claimed in claim 1, it is characterized in that: described elastomer (5) is spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203012675U CN203293202U (en) | 2013-05-29 | 2013-05-29 | Automatically and finely adjustable mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203012675U CN203293202U (en) | 2013-05-29 | 2013-05-29 | Automatically and finely adjustable mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203293202U true CN203293202U (en) | 2013-11-20 |
Family
ID=49569240
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013203012675U Withdrawn - After Issue CN203293202U (en) | 2013-05-29 | 2013-05-29 | Automatically and finely adjustable mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203293202U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103252777A (en) * | 2013-05-29 | 2013-08-21 | 金石机器人常州有限公司 | Manipulator capable of achieving automatic fine adjustment |
| CN105345819A (en) * | 2015-11-25 | 2016-02-24 | 浙江工业大学 | Self-adaptation grabbing device |
| CN107584510A (en) * | 2017-09-04 | 2018-01-16 | 鲁东大学 | Stepped floating mechanical hand |
-
2013
- 2013-05-29 CN CN2013203012675U patent/CN203293202U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103252777A (en) * | 2013-05-29 | 2013-08-21 | 金石机器人常州有限公司 | Manipulator capable of achieving automatic fine adjustment |
| CN103252777B (en) * | 2013-05-29 | 2015-02-04 | 金石机器人常州有限公司 | Manipulator capable of achieving automatic fine adjustment |
| CN105345819A (en) * | 2015-11-25 | 2016-02-24 | 浙江工业大学 | Self-adaptation grabbing device |
| CN107584510A (en) * | 2017-09-04 | 2018-01-16 | 鲁东大学 | Stepped floating mechanical hand |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103252777B (en) | Manipulator capable of achieving automatic fine adjustment | |
| CN203293202U (en) | Automatically and finely adjustable mechanical arm | |
| CN105798598B (en) | The scalable screwdriver bit component of electromagnetic levitation type for screw tightening | |
| CN110992848B (en) | LED display module flatness adjusting device | |
| CN204957719U (en) | Mechanism is ajusted to bent axle phase place | |
| CN104640371A (en) | Positive and reverse spiral amplitude chip mounting head for chip mounting machine and amplitude change method of positive and reverse spiral amplitude chip mounting head | |
| CN109202423A (en) | A kind of positioning pin press-loading apparatus | |
| CN108608451B (en) | Sucking disc formula manipulator of plane self-adaptation regulation | |
| CN204686722U (en) | A kind of floating support structure | |
| CN203308825U (en) | Automatic precise neutral position return double extension lever cylinder | |
| CN204584845U (en) | A kind of bent axle detent mechanism for robot automatic loading/unloading | |
| CN203921194U (en) | The helicopter adjustable tail displacement structure of taking photo by plane | |
| CN203926660U (en) | Linear module | |
| CN201554832U (en) | Bending-proof device for ball screw | |
| CN208744704U (en) | A kind of fixed component press-in jig of sucker | |
| CN202829458U (en) | Workpiece automatic lifting device | |
| CN204338892U (en) | Tailstock tool height and Level-adjusting structure | |
| CN202091420U (en) | Vibration-isolating damper | |
| CN208438338U (en) | A kind of manipulator precision buffering plate | |
| CN102305225A (en) | Self-locking compact sliding mechanism | |
| CN103624534A (en) | Flexible screw positioning device for thread assembly production line | |
| CN206316669U (en) | The bearing of hay mover head and the gear shaft transposer of gear shaft assembly machine | |
| CN219337776U (en) | Novel robot power device mounting structure | |
| CN204893238U (en) | High adjusting device of revolving platform | |
| CN206316668U (en) | The bearing of hay mover head and the bearing feeder structure of gear shaft assembly machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20131120 Effective date of abandoning: 20150204 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20131120 Effective date of abandoning: 20150204 |
|
| RGAV | Abandon patent right to avoid regrant |