CN203542609U - Single-drive clamping position-changing mechanical arm - Google Patents

Single-drive clamping position-changing mechanical arm Download PDF

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Publication number
CN203542609U
CN203542609U CN201320710868.1U CN201320710868U CN203542609U CN 203542609 U CN203542609 U CN 203542609U CN 201320710868 U CN201320710868 U CN 201320710868U CN 203542609 U CN203542609 U CN 203542609U
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China
Prior art keywords
wedge
mechanical arm
rotary disk
slide block
slide
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Withdrawn - After Issue
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CN201320710868.1U
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Chinese (zh)
Inventor
何聪惠
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Fujian Agriculture and Forestry University
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Fujian Agriculture and Forestry University
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Priority to CN201320710868.1U priority Critical patent/CN203542609U/en
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Abstract

The utility model relates to a single-drive clamping position-changing mechanical arm. The single-drive clamping position-changing mechanical arm comprises a base, wherein a mandrel and lifting pin bases are fixed to the base, the mandrel is sleeved with a rotary disk in a spaced mode, an installing plate is fixed to the rotary disk, two clamping jaw mechanisms are symmetrically arranged at the two ends of the installing plate respectively, a return spring is arranged between the rear portion of each clamping jaw mechanism and the middle of the installing plate, two pushing wedge installing holes are symmetrically formed in the rotary disk, pushing wedges are arranged in the pushing wedge installing holes respectively, and are used for pushing the corresponding clamping jaw mechanisms to move forwards, and clamping a workpiece, a pushing wedge return spring is arranged between the lower end of each pushing wedge and the rotary disk, and a lifting pin is arranged in each lifting pin base. According to the single-drive clamping position-changing mechanical arm, when the pushing wedges push the clamping jaw mechanisms to move forwards, the clamping jaw mechanisms can move forwards to clamp the workpiece, the return springs pull the clamping jaw mechanisms to move backwards, the workpiece can be released, and then the clamping jaw mechanisms return; only the installing plate is driven to carry out clockwise intermittent rotation with the 180-degree cycle, and changing of the workpiece position from the fixed point to any position within the 360-degree range can be achieved.

Description

Single driving clamps transposition mechanical arm
Technical field
The utility model relates to a kind of single driving and clamps transposition mechanical arm.
Background technology
Manipulator is some holding function that can imitate staff and arm, and in order to the automatic pilot that captures, carries object or operation tool by fixed routine, it is widely used in manufacturing industry.Existing workpiece transposition mechanical arm generally needs two drive systems, has complex structure, clamps the shortcomings such as unstable and energy resource consumption is many, the workpiece transposition in generally also only realizing among a small circle.
Utility model content
The problem that the utility model exists for above-mentioned prior art is made improvement, and technical problem to be solved in the utility model is to provide a kind of novel structure, reasonable in design, reliable operation and large single driving of workpiece transposition scope and clamps transposition mechanical arm.
In order to solve the problems of the technologies described above, the technical solution of the utility model is: a kind of single driving clamps transposition mechanical arm, comprise base, on described base, be fixed with axle and ejector pin seat, in described axle, be set with the rotary disk being driven by the drive system using step, on described rotary disk, be fixed with installing plate, on described installing plate two ends, be symmetrically arranged with Liang Fu gripper jaw mechanism, between described gripper jaw mechanism rear portion and installing plate middle part, be provided with return spring, on described rotary disk, symmetry offers two and pushes away wedge installing hole, described push away in wedge installing hole, be provided with for promote that respective clamp pawl mechanism advances and clamping work pieces push away wedge, described pushing away between wedge lower end and rotary disk is provided with and pushes away wedge return spring, in described ejector pin seat, be provided with by ejector pin spring and promote the ejector pin rising, described ejector pin enters in feed station pushing away in wedge installing hole of aiming at ejector pin seat hole and rises to promote the corresponding wedge that pushes away.
In further technical scheme, described gripper jaw mechanism comprises slide, three slide blocks, two push pedals and two jaws, described slide is locked on installing plate, slide block A, slide block B, slide block C is successively set on slide along gripper jaw mechanism direction of advance, push pedal A, push pedal B is separately fixed in slide block A and slide block B, between push pedal A and push pedal B, be provided with power transmission spring and pilot pin thereof, on described slide block C, be fixed with cross slide, on described cross slide, be symmetrically arranged with two transverse sliders in left and right, two jaw rear portions, left and right are articulated with on push pedal B by two of left and right power transmission pin respectively, jaw middle part, two of left and right is locked in respectively on two transverse sliders, pine folder spring is installed between two jaws in left and right.
In further technical scheme, described gripper jaw mechanism rear portion is provided with and the roller that pushes away wedge top and match, described in push away wedge top inclined-plane K by roller, promote gripper jaw mechanism and move ahead.
In further technical scheme, described in push away on wedge and offer locating slot P, on described rotary disk, be symmetrically arranged with the alignment pin matching with corresponding locating slot P.
In further technical scheme, described installing plate end is provided with the dead buting iron in order to determine gripper jaw mechanism's forward stroke ultimate position.
In further technical scheme, described axle top is provided with at unloading station and forces to push away the descending discharging block of wedge.
In further technical scheme, described push pedal A and slide block A are made into one, and/or described push pedal B and slide block B are made into one.
In further technical scheme, described cross slide and slide block C are made into one, and/or two of left and right jaw is made into one with corresponding transverse slider respectively.
In further technical scheme, described the drive system using step comprises stepper motor, driving gear and driven gear, described stepper motor is fixed on base, described driving gear is arranged on the output shaft of stepper motor, and described driven gear is fixed on finger plate bottom surface middle part empty set in axle.
In further technical scheme, described rotary disk bottom surface symmetry offers two and is convenient to respectively depress ejector pin to leave the corresponding locating slot L that pushes away wedge.
Compared with prior art, the utlity model has following beneficial effect: this list drives that to clamp transposition mechanical arm novel structure, reasonable in design, reliable operation and workpiece transposition scope large, by pushing away wedge, promote gripper jaw mechanism and can realize forward the jaw holding workpiece of protracting, after pulling gripper jaw mechanism to retreat can to make jaw first unclamp workpiece by return spring, return, only demand motive installing plate does the clockwise intermittent-rotation in 180 ° of cycles, just can realize the conversion of the location of workpiece from any orientation within the scope of fixing point to 360 °.
Below in conjunction with the drawings and specific embodiments, the utility model is described in more detail.
Accompanying drawing explanation
Fig. 1 is the main TV structure schematic diagram of the utility model embodiment.
Fig. 2 is the cutaway view at A-A place in Fig. 1.
Fig. 3 is the cutaway view at C-C place in Fig. 1.
Fig. 4 is the cutaway view at B-B place in Fig. 3.
Fig. 5 be the utility model embodiment overlook use state diagram.
In figure: 1-base, 2-ejector pin spring, 3-ejector pin seat, 4-ejector pin, 5-rotary disk, 6-pushes away wedge, 7-alignment pin, 8-slide, 9-slide block A, 10-slide block B, 11-slide block C, the dead buting iron of 12-, 13-cross slide, 14-transverse slider, 15-back-up ring, 16-power transmission spring guide pin, 17-roller, 18-return spring, 19-discharging block, 20-axle, 21-installing plate, 22-pushes away wedge return spring, 23-the drive system using step, 24-power transmission spring, 25-power transmission pin, 26-jaw, 27-pine folder spring, 28-push pedal B, 29-push pedal A.
The specific embodiment
As shown in Fig. 1 ~ 5, a kind of single driving clamps transposition mechanical arm, comprise base 1, on described base 1, be fixed with axle 20 and ejector pin seat 3, in described axle 20, be set with the rotary disk 5 being driven by the drive system using step 23, on described rotary disk 5, be fixed with installing plate 21, described installing plate is symmetrically arranged with Liang Fu gripper jaw mechanism on 21 two ends, between described gripper jaw mechanism rear portion and installing plate 21 middle parts, be provided with return spring 18, on described rotary disk 5, symmetry offers two and pushes away wedge installing hole, described push away in wedge installing hole, be provided with for promote that respective clamp pawl mechanism advances and clamping work pieces push away wedge 6, described pushing away between wedge 6 lower ends and rotary disk 5 is provided with and pushes away wedge return spring 22, in described ejector pin seat 3, be provided with by ejector pin spring 2 and promote the ejector pin 4 rising, described ejector pin 4 enters in feed station pushing away in wedge installing hole of aiming at ejector pin seat 3 holes and rises to promote the corresponding wedge 6 that pushes away.
In the present embodiment, described gripper jaw mechanism comprises slide 8, three slide blocks, two push pedals and two jaws 26, described slide 8 is locked on installing plate 21, slide block A9, slide block B 10, slide block C11 is successively set on slide 8 along gripper jaw mechanism direction of advance, push pedal A29, push pedal B28 is separately fixed in slide block A9 and slide block B 10, between push pedal A29 and push pedal B28, be provided with power transmission spring 24 and pilot pin 16 thereof, on described slide block C11, be fixed with cross slide 13, on described cross slide 13, be symmetrically arranged with two transverse sliders 14 in left and right, the skewed slot S at two jaw 26 rear portions, left and right is articulated with on push pedal B28 by two of left and right power transmission pin 25 respectively, described push pedal B28 by two of left and right power transmission pin 25 respectively to the left and right two clamp transferring power, two jaw 26 middle parts, left and right are locked in respectively on two transverse sliders 14, pine folder spring 27 is installed between two jaws 26 in left and right.
In the present embodiment, described gripper jaw mechanism rear portion is provided with and the roller 17 that pushes away wedge 6 tops and match, described in push away wedge 6 tops inclined-plane K by roller 17, promote gripper jaw mechanism and move ahead; Specifically, described push pedal A29 rear portion is provided with and the roller 17 that pushes away wedge 6 tops and match, described in push away wedge 6 tops inclined-plane K by roller 17, promote slide block A9 and move ahead along slide 8.Described axle 20 tops are provided with at unloading station and force to push away the descending discharging block 19 of wedge 6; Specifically, when pushing away wedge 6 and rotate to unloading station with rotary disk 5, it is descending that the inclined-plane M of described discharging block 19 can force to push away wedge 6.The duty that described gripper jaw mechanism clamps in protracting or pine folder retreats, depend on that pushing away wedge 6 is risings or descending, and the rising that pushes away wedge 6 is ejector pin seat 3, interior ejector pin spring 2 promotes the result that ejector pin 4 rises, and being fixed in inclined-plane M on the discharging block 19 at axle 20 tops, can to force to push away wedge 6 descending.
In the present embodiment, described return spring 18 is to be arranged between push pedal A29 rear portion and installing plate 21 middle parts.Described wedge 6 sidewalls that push away offer locating slot P, are symmetrically arranged with the alignment pin 7 matching with corresponding locating slot P on described rotary disk 5.Described installing plate 21 ends are provided with the dead buting iron 12 in order to determine gripper jaw mechanism's forward stroke ultimate position; Specifically, described dead buting iron 12 is the stroke ultimate positions in order to determine slide block C11.Described push pedal A29 and slide block A9 can be made into one, and described push pedal B28 and slide block B 10 also can be made into one; Described cross slide 13 can be made into one with slide block C11, and two of left and right jaw 26 also can be made into one with corresponding transverse slider 14 respectively.
In the present embodiment, described the drive system using step 23 comprises stepper motor, driving gear and driven gear, described stepper motor also can be fixed on base 1, described driving gear is arranged on the output shaft of stepper motor, and described driven gear is fixed on finger plate bottom surface middle part empty set in axle 20.Described rotary disk 5 bottom surface symmetries offer two and are convenient to respectively depress ejector pin 4 to leave the corresponding locating slot L that pushes away wedge 6; Specifically, when workpiece need to be shifted to discharging station from feed station, described the drive system using step 23 drives rotary disk 5 to continue revolution clockwise, and the inclined-plane N of described locating slot L depresses ejector pin 4 to leave and pushes away wedge 6.
In the present embodiment, this single course of work of clamping transposition mechanical arm that drives is as follows:
When receiving the instruction bringing into operation, the drive system using step 23 drives rotary disk 5 to clockwise rotate, and when the ejector pin 4 on ejector pin seat 3 is under the effect of ejector pin spring 2, enters the moment of the locating slot L on rotary disk 5 bottom surfaces, and the drive system using step 23 makes rotary disk 5 stalls.Now ejector pin 4 heads on that to push away wedge 6 up, until alignment pin 7 stops while entering locating slot P, the inclined-plane K that pushes away wedge 6 tops promotes slide block A9 by roller 17 and moves ahead along slide 8, and through power transmission spring 24, promote slide block B 10 and move ahead, be fixed on the power transmission pin 25 of the symmetrical distribution of slide block B 10 end face, drive the left and right jaw 26 being separately fixed on two transverse sliders 14 of left and right together to move ahead, and approach workpiece (feed station).Because the gathering sill of transverse slider 14 is sleeved on the cross slide 13 being fixedly connected with slide block C11, to making jaw 26 also can be with movable slider C11 to move ahead by cross slide 13.After slide block C11 encounters dead buting iron 12 and halts, the power transmission pin 25 in slide block B 10 is pushing away still reach under wedge 6 inclined-plane, top K effects, and the skewed slot S keeping left on right jaw 26 makes the relative transverse shifting clamping work pieces of two jaws 26 compression pine folder springs 27.When roller 17 is when pushing away inclined-plane K on wedge 6 and forward straight flange to, clamp action and stop.By power transmission spring 24, jaw 26 can be realized floating clamping mechanism to workpiece.
When workpiece need to be shifted to discharging station from feed station, the drive system using step 23 makes rotary disk 5 continue revolution clockwise, though ejector pin 4 is depressed to leave by the inclined-plane N of rotary disk 5 bottom surface locating slot L, push away wedge 6, because alignment pin 7 is still inserted in the locating slot P that pushes away wedge 6, workpiece still keeps clamped state.When workpiece moves on to discharging station, push away wedge 6 upper ends and encounter discharging buting iron, along its inclined-plane M, down promoted, force alignment pin 7 to exit locating slot, pushing away under 22 effects of wedge return spring, push away wedge 6 and continue to go downwards to original position.Meanwhile, return spring 18 drags slide block A9 and retreats, and the back-up ring 15 of power transmission spring guide pin 16 leading section nut lockings retreats through one section of idle stroke t post-tensioning movable slider B10.Because power transmission pin 25 makes the pressure that left and right jaw 26 clamps, disappear, under pine folder spring 27 promotes, workpiece is unclamped in the first counter motion of jaw 26, after with power transmission pin 25, return to original position.
When the moment that differs another locating slot L of 180 ° on rotary disk 5 bottom surfaces and forward the respective phase of feed station to, inserted by ejector pin 4, another gripper jaw mechanism corresponding thereto repeats the aforementioned clamping process to workpiece.The phase decision that unloading station is installed by the relative rotary disk of discharging pan iron 5 middle parts.
The foregoing is only preferred embodiment of the present utility model, all equalizations of doing according to the utility model claim change and modify, and all should belong to covering scope of the present utility model.

Claims (10)

1. single a driving clamps transposition mechanical arm, comprise base, it is characterized in that: on described base, be fixed with axle and ejector pin seat, in described axle, be set with the rotary disk being driven by the drive system using step, on described rotary disk, be fixed with installing plate, on described installing plate two ends, be symmetrically arranged with Liang Fu gripper jaw mechanism, between described gripper jaw mechanism rear portion and installing plate middle part, be provided with return spring, on described rotary disk, symmetry offers two and pushes away wedge installing hole, described push away in wedge installing hole, be provided with for promote that respective clamp pawl mechanism advances and clamping work pieces push away wedge, described pushing away between wedge lower end and rotary disk is provided with and pushes away wedge return spring, in described ejector pin seat, be provided with by ejector pin spring and promote the ejector pin rising, described ejector pin enters in feed station pushing away in wedge installing hole of aiming at ejector pin seat hole and rises to promote the corresponding wedge that pushes away.
2. single driving according to claim 1 clamps transposition mechanical arm, it is characterized in that: described gripper jaw mechanism comprises slide, three slide blocks, two push pedals and two jaws, described slide is locked on installing plate, slide block A, slide block B, slide block C is successively set on slide along gripper jaw mechanism direction of advance, push pedal A, push pedal B is separately fixed in slide block A and slide block B, between push pedal A and push pedal B, be provided with power transmission spring and pilot pin thereof, on described slide block C, be fixed with cross slide, on described cross slide, be symmetrically arranged with two transverse sliders in left and right, two jaw rear portions, left and right are articulated with on push pedal B by two of left and right power transmission pin respectively, jaw middle part, two of left and right is locked in respectively on two transverse sliders, pine folder spring is installed between two jaws in left and right.
3. single driving according to claim 1 and 2 clamps transposition mechanical arm, it is characterized in that: described gripper jaw mechanism rear portion is provided with and the roller that pushes away wedge top and match, described in push away wedge top inclined-plane K by roller, promote gripper jaw mechanism and move ahead.
4. single driving according to claim 1 and 2 clamps transposition mechanical arm, it is characterized in that: described in push away on wedge and offer locating slot P, on described rotary disk, be symmetrically arranged with the alignment pin matching with corresponding locating slot P.
5. single driving according to claim 1 and 2 clamps transposition mechanical arm, it is characterized in that: described installing plate end is provided with the dead buting iron in order to determine gripper jaw mechanism's forward stroke ultimate position.
6. single driving according to claim 1 and 2 clamps transposition mechanical arm, it is characterized in that: described axle top is provided with at unloading station and forces to push away the descending discharging block of wedge.
7. single driving according to claim 2 clamps transposition mechanical arm, it is characterized in that: described push pedal A and slide block A are made into one, and/or described push pedal B and slide block B is made into one.
8. single driving according to claim 2 clamps transposition mechanical arm, it is characterized in that: described cross slide and slide block C are made into one, and/or two of left and right jaw is made into one with corresponding transverse slider respectively.
9. single driving according to claim 1 clamps transposition mechanical arm, it is characterized in that: described the drive system using step comprises stepper motor, driving gear and driven gear, described stepper motor is fixed on base, described driving gear is arranged on the output shaft of stepper motor, and described driven gear is fixed on finger plate bottom surface middle part empty set in axle.
10. single driving according to claim 1 clamps transposition mechanical arm, it is characterized in that: described rotary disk bottom surface symmetry offers two and is convenient to respectively depress ejector pin to leave the corresponding locating slot L that pushes away wedge.
CN201320710868.1U 2013-11-12 2013-11-12 Single-drive clamping position-changing mechanical arm Withdrawn - After Issue CN203542609U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201320710868.1U CN203542609U (en) 2013-11-12 2013-11-12 Single-drive clamping position-changing mechanical arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201320710868.1U CN203542609U (en) 2013-11-12 2013-11-12 Single-drive clamping position-changing mechanical arm

Publications (1)

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CN203542609U true CN203542609U (en) 2014-04-16

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CN201320710868.1U Withdrawn - After Issue CN203542609U (en) 2013-11-12 2013-11-12 Single-drive clamping position-changing mechanical arm

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103586866A (en) * 2013-11-12 2014-02-19 福建农林大学 Single-drive clamping transposition mechanical arm
CN107777006A (en) * 2017-11-20 2018-03-09 青岛德隆装备有限公司 A kind of many types ofization changes bottle-type device
CN108746765A (en) * 2018-06-08 2018-11-06 芜湖思科生产力促进中心有限公司 A kind of rotary drilling equipment

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103586866A (en) * 2013-11-12 2014-02-19 福建农林大学 Single-drive clamping transposition mechanical arm
CN103586866B (en) * 2013-11-12 2015-09-09 福建农林大学 Single driving clamps transposition mechanical arm
CN107777006A (en) * 2017-11-20 2018-03-09 青岛德隆装备有限公司 A kind of many types ofization changes bottle-type device
CN108746765A (en) * 2018-06-08 2018-11-06 芜湖思科生产力促进中心有限公司 A kind of rotary drilling equipment

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C14 Grant of patent or utility model
GR01 Patent grant
AV01 Patent right actively abandoned

Granted publication date: 20140416

Effective date of abandoning: 20150909

RGAV Abandon patent right to avoid regrant