CN205415608U

CN205415608U - Industrial manipulator

Info

Publication number: CN205415608U
Application number: CN201521060260.4U
Authority: CN
Inventors: 李冬冬; 周进仿; 梁向鹏; 杨洲凌; 曾智源
Original assignee: Guangzhou College of South China University of Technology
Current assignee: Guangzhou College of South China University of Technology
Priority date: 2015-12-19
Filing date: 2015-12-19
Publication date: 2016-08-03
Anticipated expiration: 2025-12-19

Abstract

The utility model discloses an industrial manipulator, including base, mechanical arm and mechanical tongs, the base includes a U type seat, the 2nd U type seat and the 3rd U type seat, mechanical arm includes first support, first steering wheel, second support, second steering wheel, third support, the 3rd linking bridge, third steering wheel, fourth support, fourth steering wheel and the 5th steering wheel, the machinery tongs is fixed on the output shaft of the 5th steering wheel. The utility model discloses let the manipulator in during operation operation stability more, can rotate convenient nimble centre gripping article in all directions.

Description

A kind of industry mechanical arm

Technical field

This utility model relates to industry mechanical arm.

Background technology

Industry mechanical arm is to apply to replace people to carry out the equipment of gripping objects in the industry, and current industry mechanical arm is made up of base, arm and mechanical hand substantially, but current mechanical hand is unstable in running.

Summary of the invention

In order to the most stable, reliable to the supporting of industry mechanical arm, allowing mechanical hand operationally run the most stable, can rotate in all directions, convenient, flexible gripping objects, this utility model provides a kind of industry mechanical arm.

For reaching above-mentioned purpose, a kind of industry mechanical arm, it is characterised in that: include base, manipulator arm and mechanical gripper；Described base includes the first U-shaped seat, the second U-shaped seat and the 3rd U-shaped seat, second U-shaped seat is welded on first U-shaped side, and outwardly, the opening of the second U-shaped seat is outwardly for the opening of the first U-shaped seat, 3rd U-shaped seat is welded on the upper surface of the second U-shaped seat, the 3rd U-shaped seat opening up；Described manipulator arm includes the first support, the first steering wheel, the second support, the second steering wheel, the 3rd support, the 3rd connection support, the 3rd steering wheel, the 4th support, the 4th steering wheel and the 5th steering wheel；First support is fixed on the left side of the 3rd U-shaped seat, and the first steering wheel is fixed on the first support, and the output shaft of the first steering wheel is arranged near the first U-shaped seat；One end of second support is fixed on the output shaft of the first steering wheel, and the other end of the second support is fixed on the second steering wheel；3rd support is fixed on the output shaft of the second steering wheel；3rd connects support is fixed on the 3rd support；The output shaft of the 3rd steering wheel is fixed on the 3rd connection support, and the 3rd steering wheel is fixed on the 4th support；The output shaft of the 4th steering wheel is fixed on the 4th support；5th steering wheel is fixed on the 4th steering wheel；Mechanical gripper is fixed on the output shaft of the 5th steering wheel.

The operation principle of above-mentioned industry mechanical arm is: the first steering wheel work, and the first steering wheel can drive the second support to rotate, and the second support drives all parts being connected with the second support to rotate.Second steering wheel work, the second steering wheel drives the 3rd support to rotate, and the 3rd support drives connected all parts to rotate.3rd steering wheel work, the 3rd steering wheel drives the 4th support to rotate, and the 4th support drives connected all parts to rotate.4th steering wheel work, the 4th steering wheel drives connected 5th steering wheel to rotate, and the 5th steering wheel driving mechanical handgrip rotates.5th steering wheel work, the 5th steering wheel driving mechanical handgrip rotates.By controlling first, second, third, fourth and fifth steering wheel, mechanical gripper can be allowed to rotate in all directions, it is thus possible to capture article flexibly.

In this utility model, owing to base is made up of first, second, and third U-shaped seat, and first and second U-shaped seat be horizontally disposed with, increase bearing area, supporting stabilizer to industry mechanical arm, owing to being provided with the 3rd vertical U-shaped seat, the most conveniently fix the first support, and have enough space mounting the first steering wheels.Owing to the output of the first steering wheel is arranged near the first U-shaped seat so that the first steering wheel drives the point of rotation of the second support to move down, so, during the first steering wheel work, the athletic meeting of mechanical arm more steadily and is stablized.

Further, the second support is U-shaped, and the 3rd support is U-shaped, and the 3rd connection support is U-shaped, and the 4th support is U-shaped.Above-mentioned supporting structure, light weight, and the purpose of two supports steering wheel can be realized, therefore, the installation of steering wheel is more stable and reliable.

Further, described mechanical gripper includes connection dish, connecting plate, grip block, the 6th steering wheel, master arm, slave arm and connecting rod；Being welded with two grip blocks on connection dish, be formed with slot between two grip blocks, one end of connecting plate is inserted in slot, is provided with screw between grip block and connecting plate；6th steering wheel is fixed on connecting plate, described master arm includes driving gear, actively linking arm and active clamping limb, driving gear is fixed on the output shaft of the 6th steering wheel, and actively linking arm is fixed on driving gear, and actively clamping limb is hinged on active linking arm；Described slave arm includes driven gear, driven linking arm and slave clip gripping arm, and driven gear is articulated on connecting plate, and driven gear is meshed with driving gear, and driven linking arm is fixed on driven gear, and slave clip gripping arm is hinged on driven linking arm；Between connecting plate and active clamping limb, it is hinged with connecting rod, between connecting plate and slave clip gripping arm, is hinged with connecting rod；Connection dish is fixed on the output shaft of the 5th steering wheel.

Above-mentioned mechanical gripper, when the 6th steering wheel work, the 6th steering wheel drives driving gear to rotate, and driving gear drives driven gear to rotate, and under the effect of connecting rod, actively clamping limb and slave clip gripping arm can be opened simultaneously or fold, it is achieved the purpose of gripping objects.Owing to being provided with connection dish, accordingly, it is capable to be fixed on reliably by mechanical gripper on the output shaft of the 5th steering wheel, owing to defining slot between grip block, accordingly, it is capable to the installation to connecting plate positions, and connecting plate is the most reliable with the connection of grip block.

Further, described grip block includes connecting portion and the clamping part being folded upward at from connecting portion, and grip block is L-shaped.On the one hand facilitating fixed clamp plate, make fixing of grip block more firm, reliable, on the other hand rigidity and the intensity of grip block are good, and the clamping to connecting plate is the most reliable.

Accompanying drawing explanation

Fig. 1 is schematic diagram of the present utility model.

Detailed description of the invention

With detailed description of the invention, this utility model is further elaborated below in conjunction with the accompanying drawings.

As it is shown in figure 1, a kind of industry mechanical arm includes base 1, manipulator arm 2 and mechanical gripper 3.

Described base 1 includes first U-shaped seat the 11, second U-shaped seat 12 and the 3rd U-shaped seat 13, second U-shaped seat 12 is welded on the first U-shaped seat 11 side, the opening of the first U-shaped seat 11 is outwardly, the opening of the second U-shaped seat 12 is outwardly, 3rd U-shaped seat 13 is welded on the upper surface of the second U-shaped seat 12, the 3rd U-shaped seat 13 opening up.

Described manipulator arm 2 includes that first support the 21, first steering wheel the 22, second support the 23, second steering wheel the 24, the 3rd support the 25, the 3rd connects support the 26, the 3rd steering wheel the 27, the 4th support the 28, the 4th steering wheel 29 and the 5th steering wheel 210；First support 21 is fixed on the left side of the 3rd U-shaped seat 13, and the first steering wheel 22 is fixed on the first support 21, and the output shaft of the first steering wheel 22 is arranged near the first U-shaped seat 11；One end of second support 23 is fixed on the output shaft of the first steering wheel 22, and the other end of the second support 23 is fixed on the second steering wheel 24；3rd support 25 is fixed on the output shaft of the second steering wheel 24；3rd connects support 26 is fixed on the 3rd support 25；The output shaft of the 3rd steering wheel 27 is fixed on the 3rd connection support 26, and the 3rd steering wheel 27 is fixed on the 4th support 28；The output shaft of the 4th steering wheel 29 is fixed on the 4th support 28；5th steering wheel 210 is fixed on the 4th steering wheel 29；Mechanical gripper 3 is fixed on the output shaft of the 5th steering wheel 210.

Second support 23 is U-shaped, and the 3rd support 25 is U-shaped, and the 3rd connection support 26 is U-shaped, and the 4th support 28 is U-shaped.Above-mentioned supporting structure, light weight, and the purpose of two supports steering wheel can be realized, therefore, the installation of steering wheel is more stable and reliable.

The operation principle of above-mentioned industry mechanical arm is: the first steering wheel 22 works, and the first steering wheel 22 can drive the second support 23 to rotate, and the second support 23 drives all parts being connected with the second support 23 to rotate.Second steering wheel 24 works, and the second steering wheel 24 drives the 3rd support 25 to rotate, and the 3rd support 25 drives connected all parts to rotate.3rd steering wheel 27 works, and the 3rd steering wheel 27 drives the 4th support 28 to rotate, and the 4th support 28 drives connected all parts to rotate.4th steering wheel 29 works, and the 4th steering wheel 29 drives connected 5th steering wheel 210 to rotate, and the 5th steering wheel 210 driving mechanical handgrip 3 rotates.5th steering wheel 210 works, and the 5th steering wheel 210 driving mechanical handgrip 3 rotates.By controlling first, second, third, fourth and fifth steering wheel, mechanical gripper 3 can be allowed to rotate in all directions, it is thus possible to capture article flexibly.

In this utility model, owing to base 1 is made up of first, second, and third U-shaped seat, and first and second U-shaped seat 12 be horizontally disposed with, increase bearing area, supporting stabilizer to industry mechanical arm, owing to being provided with the U-shaped seat 13 of vertical the 3rd, the most conveniently fix the first support 21, and have enough space mounting the first steering wheels 22.Owing to the output of the first steering wheel 22 is arranged near the first U-shaped seat 11 so that the first steering wheel 22 drives the point of rotation of the second support 23 to move down, so, when the first steering wheel 22 works, the athletic meeting of mechanical arm more steadily and is stablized.

Described mechanical gripper 3 includes connection dish 31, connecting plate 33, grip block the 32, the 6th steering wheel, master arm, slave arm and connecting rod 36；Being welded with two grip blocks 32 on connection dish 31, be formed with slot between two grip blocks 32, one end of connecting plate 33 is inserted in slot, is provided with screw between grip block 32 and connecting plate 33；6th steering wheel is fixed on connecting plate 33.

Described master arm includes driving gear 341, actively linking arm 342 and active clamping limb 343, driving gear 341 is fixed on the output shaft of the 6th steering wheel, actively linking arm 342 is fixed on driving gear 341, and actively clamping limb 343 is hinged on active linking arm 342；Described slave arm includes driven gear 351, driven linking arm 352 and slave clip gripping arm 353, driven gear 351 is articulated on connecting plate 33, driven gear 351 is meshed with driving gear 341, driven linking arm 352 is fixed on driven gear 351, and slave clip gripping arm 353 is hinged on driven linking arm 352；Between connecting plate 33 and active clamping limb 343, it is hinged with connecting rod 36, between connecting plate 33 and slave clip gripping arm 353, is hinged with connecting rod 36；Connection dish 31 is fixed on the output shaft of the 5th steering wheel 210.

Above-mentioned mechanical gripper 3, when the 6th steering wheel work, the 6th steering wheel drives driving gear 341 to rotate, driving gear 341 drives driven gear 351 to rotate, under the effect of connecting rod 36, actively clamping limb 343 and slave clip gripping arm 353 can be opened simultaneously or fold, it is achieved the purpose of gripping objects.Owing to being provided with connection dish 31, accordingly, it is capable to mechanical gripper 3 is fixed on the output shaft of the 5th steering wheel reliably, owing to defining slot between grip block 32, accordingly, it is capable to the installation to connecting plate 33 positions, and connecting plate 33 is the most reliable with the connection of grip block 32.

Described grip block 32 includes connecting portion and the clamping part being folded upward at from connecting portion, and grip block 32 is L-shaped.On the one hand facilitating fixed clamp plate 32, make fixing of grip block 32 more firm, reliable, on the other hand rigidity and the intensity of grip block 32 are good, and the clamping to connecting plate 33 is the most reliable.

Claims

1.A kind of industry mechanical arm, it is characterised in that: include base, manipulator arm and mechanical gripper；Described base includes the first U-shaped seat, the second U-shaped seat and the 3rd U-shaped seat, second U-shaped seat is welded on first U-shaped side, and outwardly, the opening of the second U-shaped seat is outwardly for the opening of the first U-shaped seat, 3rd U-shaped seat is welded on the upper surface of the second U-shaped seat, the 3rd U-shaped seat opening up；Described manipulator arm includes the first support, the first steering wheel, the second support, the second steering wheel, the 3rd support, the 3rd connection support, the 3rd steering wheel, the 4th support, the 4th steering wheel and the 5th steering wheel；First support is fixed on the left side of the 3rd U-shaped seat, and the first steering wheel is fixed on the first support, and the output shaft of the first steering wheel is arranged near the first U-shaped seat；One end of second support is fixed on the output shaft of the first steering wheel, and the other end of the second support is fixed on the second steering wheel；3rd support is fixed on the output shaft of the second steering wheel；3rd connects support is fixed on the 3rd support；The output shaft of the 3rd steering wheel is fixed on the 3rd connection support, and the 3rd steering wheel is fixed on the 4th support；The output shaft of the 4th steering wheel is fixed on the 4th support；5th steering wheel is fixed on the 4th steering wheel；Mechanical gripper is fixed on the output shaft of the 5th steering wheel.

2.Industry mechanical arm according to claim 1, it is characterised in that: the second support is U-shaped, and the 3rd support is U-shaped, and the 3rd connection support is U-shaped, and the 4th support is U-shaped.

3.Industry mechanical arm according to claim 1, it is characterised in that: described mechanical gripper includes connection dish, connecting plate, grip block, the 6th steering wheel, master arm, slave arm and connecting rod；Being welded with two grip blocks on connection dish, be formed with slot between two grip blocks, one end of connecting plate is inserted in slot, is provided with screw between grip block and connecting plate；6th steering wheel is fixed on connecting plate, described master arm includes driving gear, actively linking arm and active clamping limb, driving gear is fixed on the output shaft of the 6th steering wheel, and actively linking arm is fixed on driving gear, and actively clamping limb is hinged on active linking arm；Described slave arm includes driven gear, driven linking arm and slave clip gripping arm, and driven gear is articulated on connecting plate, and driven gear is meshed with driving gear, and driven linking arm is fixed on driven gear, and slave clip gripping arm is hinged on driven linking arm；Between connecting plate and active clamping limb, it is hinged with connecting rod, between connecting plate and slave clip gripping arm, is hinged with connecting rod；Connection dish is fixed on the output shaft of the 5th steering wheel.

4.Industry mechanical arm according to claim 3, it is characterised in that: described grip block includes connecting portion and the clamping part being folded upward at from connecting portion, and grip block is L-shaped.