CN206215840U - Hot upsetting-extruding feeding manipulator - Google Patents
Hot upsetting-extruding feeding manipulator Download PDFInfo
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- CN206215840U CN206215840U CN201621249125.9U CN201621249125U CN206215840U CN 206215840 U CN206215840 U CN 206215840U CN 201621249125 U CN201621249125 U CN 201621249125U CN 206215840 U CN206215840 U CN 206215840U
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- 230000007246 mechanism Effects 0.000 claims abstract description 69
- 230000033001 locomotion Effects 0.000 claims abstract description 32
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model discloses a hot upsetting and extruding feeding manipulator, which comprises a driving device, an arm swing mechanism and an arm swing mechanism; the driving device is a motor and provides power for the movement of the arm swing mechanism and the arm swing mechanism; the arm slewing mechanism comprises an incomplete gear mechanism, a cylindrical gear mechanism and a manipulator body, the manipulator body and the incomplete gear mechanism transmit motion through a coupler, and the incomplete gear mechanism is meshed with the cylindrical gear mechanism and drives the manipulator body to make intermittent slewing motion; the arm swinging mechanism is installed on the manipulator body and swings up and down relative to the manipulator body. The utility model discloses rely on cam and rocker mechanism to realize robotic arm's intermittent type luffing motion, rely on incomplete gear mechanism and cylindrical gear mechanism to realize the intermittent type rotary motion of manipulator organism, simple structure easily realizes that occupation space is little, and is with low costs, and stability is good, can long-time uninterrupted duty, and is efficient.
Description
Technical field
The utility model is related to a kind of hot upsetting squeeze feeding mechanical hand, belongs to manipulator technical field.
Background technology
Manipulator can imitate some holding functions of staff and arm, be to be used to by fixed routine crawl, carry object or behaviour
Make the automatic pilot of instrument.Manipulator is the earliest industrial robot for occurring, and is also the earliest modern machines people for occurring, it
The heavy labor of people can be replaced to realize the mechanization and automation of production, can operate to protect personal peace under hostile environment
Entirely.At present, many feeding mechanical hands are bulky on the market, and complex structure is relatively costly, can not meet the need of medium-sized and small enterprises
Ask.
Utility model content
Technical problem to be solved of the present utility model is：Overcome the deficiencies in the prior art, there is provided a kind of hot upsetting squeeze is sent
Material manipulator, its simple structure, low cost, good stability.
In order to solve the above-mentioned technical problem, the technical solution of the utility model is：A kind of hot upsetting squeeze feeding mechanical hand, including
Drive device, arms swing mechanism and arm slew gear；The drive device is motor, and it is arms swing mechanism and hand
The motion of revolution of arm mechanism provides power；The arm slew gear includes incomplete gear mechanism, cylindrical gear mechanism and machine
Tool mobile phone body, manipulator body transmits motion, incomplete gear mechanism and Cylinder Gear with incomplete gear mechanism by shaft coupling
Wheel mechanism is meshed, and driving mechanical mobile phone body makees intermittent-rotation motion；The arms swing mechanism is arranged on manipulator body
On, swung up and down relative to manipulator body.
Further provide for the drive mechanism of a kind of incomplete gear mechanism and cylindrical gear mechanism, the partial gear machine
Structure includes incomplete internal gear and incomplete external gear, and the cylindrical gear mechanism includes be engaged with incomplete internal gear the
One roller gear and the second roller gear being engaged with incomplete external gear, when incomplete internal gear is nibbled with the first roller gear
When conjunction, incomplete external gear are not engaged with the second roller gear, manipulator body is rotated forward；When incomplete internal gear and first
When roller gear is not engaged, incomplete external gear is engaged with the second roller gear, manipulator body reversed turning.
Further, the toothed portion of the incomplete internal gear point occupies 120 degree, the toothed portion point of the incomplete external gear
Occupy 240 degree.
The swing of arms swing mechanism, the arms swing mechanism are not influenceed further for the rotation for making manipulator body
Including cam and the molecular cam mechanism of roller, connecting rod, sliding block, rocking bar and support, support, rocking bar and sliding block constitute rocking bar machine
Structure, one end of connecting rod is connected on roller, and the other end is connected on sliding block, and on rocking bar, one end of rocking bar is hinged on slide block set
On support；The manipulator body includes intermeshing first conical gear and the second conical gear, the cam and first
Bevel pinion shaft is connected, and drives cam rotation, and roller drivening rod moves up and down with the rotation of cam, so as to realize machinery
Hand swings up and down, and the rotation of manipulator body do not influence the swing of arms swing mechanism.
Further, the rocking bar swings up and down 15 degree.
Vertical rotary motion is converted into further for by horizontal revolving motion, the output shaft of the motor passes through a band
Wheel combination is connected with the 3rd bevel pinion shaft, and the 3rd conical gear is meshed with the 4th conical gear, so as to horizontal rotation be transported
It is dynamic to be converted into vertical rotary motion.
Further, the belt wheel combination includes the output shaft of a small pulley and a big belt wheel, small pulley and motor
Connection, big small pulley passes through belt transmission.
After employing above-mentioned technical proposal, the utility model has the advantages that：
1) the utility model realizes that the interval of mechanical arm swings up and down by cam and endplay device, by incomplete
Gear mechanism realizes that the intermittent-rotation of manipulator body is moved with cylindrical gear mechanism, simple structure, it is easy to accomplish, take empty
Between small, low cost, good stability being capable of long-time non-stop run, efficiency high；
2) the utility model provides power source by motor, is combined and the 3rd conical gear, the 4th circular cone by a belt wheel
Gear, vertical rotary motion is converted into by horizontal revolving motion, for incomplete gear mechanism provides power；
3) cam mechanism of the present utility model is located at the inside of manipulator body, and the rotation of manipulator body does not influence machinery
The swing of arm；
4) by changing the continuous number of teeth of incomplete external gear and the driving wheel of incomplete internal gear, i.e., shared by toothed portion
According to angle change the anglec of rotation of manipulator body；It is upper and lower mechanical arm to be realized by changing the contour curve of cam
The angle of swing, so as to realize designated movement.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present utility model；
Fig. 2 is the structural representation of arms swing mechanism of the present utility model；
Fig. 3 is the structural representation of arm slew gear of the present utility model；
Fig. 4 is the mesh schematic representation of incomplete internal gear of the present utility model and the first roller gear；
Fig. 5 is the mesh schematic representation of incomplete external gear of the present utility model and the second roller gear；
In figure, 1, motor, 2, small pulley, 3, belt, the 4, the 3rd conical gear, the 5, the 4th conical gear, the 6, first circle
Stud wheel, the 7, second roller gear, 9, cam, 10, roller, 11, connecting rod, 12, rocking bar, 13, sliding block, 14, support, 15, first
Conical gear, the 16, second conical gear, 17, manipulator body, 19, shaft coupling, 20, incomplete external gear, 21, not exclusively in
Gear, 22, big belt wheel, 23, incomplete gear mechanism.
Specific embodiment
In order that content of the present utility model is easier to be clearly understood, below according to specific embodiment and with reference to attached
Figure, is described in further detail to the utility model.
As shown in figure 1, a kind of hot upsetting squeeze feeding mechanical hand, including drive device, arms swing mechanism and arm turn-around machine
Structure；The drive device is motor 1, and it provides power for the motion of arms swing mechanism and arm slew gear；The hand
Revolution of arm mechanism include incomplete gear mechanism 23, cylindrical gear mechanism and manipulator body 17, manipulator body 17 with it is not complete
All gear mechanism 23 transmits motion by shaft coupling 19, and incomplete gear mechanism 17 is meshed with cylindrical gear mechanism, and drives
Manipulator body 17 makees intermittent-rotation motion；The arms swing mechanism is arranged on manipulator body 17, relative to manipulator
Body 17 swings up and down.
Preferably, as shown in Figure 1, Figure 3, the incomplete gear mechanism includes incomplete internal gear 21 and incomplete external tooth
Wheel 20, the cylindrical gear mechanism include the first roller gear 6 for being engaged with incomplete internal gear 21 and with incomplete external tooth
The second roller gears 7 that are engaged of wheel 20, engage when incomplete internal gear 21, incomplete external gear 20 with the first roller gear 6
When not engaged with the second roller gear 7, manipulator body 17 is rotated forward；When the roller gear 6 of incomplete internal gear 21 and first
Do not engage, when incomplete external gear 20 is engaged with the second roller gear 7, the reversed turning of manipulator body 17.
Alternatively, as shown in Figure 4, Figure 5, the toothed portion of the incomplete internal gear 21 point occupies 120 degree, it is described not exclusively
The toothed portion of external gear 20 point occupies 240 degree, can be by changing the company of incomplete external gear and the driving wheel of incomplete internal gear
Continue the angle occupied by the number of teeth, i.e. toothed portion to adjust the anglec of rotation of manipulator body 17.
Preferably, as shown in Figure 1 and Figure 2, the arms swing mechanism include cam 9 and roller 10 composition cam mechanism,
Connecting rod 11, sliding block 13, rocking bar 12 and support 14, support 14, rocking bar 12 and sliding block 13 constitute endplay device, and one end of connecting rod 11 connects
It is connected on roller 10, the other end is connected on sliding block 13, sliding block 13 is enclosed within rocking bar 12, one end of rocking bar 12 is hinged on support 14
On；The manipulator body 17 includes the conical gear 16 of intermeshing first conical gear 15 and second, the cam 9 and the
The axle of one conical gear 15 is connected, and band moving cam 9 is rotated, and the drivening rod 11 of roller 10 moves up and down with the rotation of cam 9, from
And swinging up and down for mechanical arm is realized, the rotation of manipulator body 17 does not influence the swing of arms swing mechanism.
Alternatively, the rocking bar 12 swings up and down 15 degree, can realize mechanical arm by changing the contour curve of cam
The regulation of the angle for swinging up and down.
Preferably, as shown in figure 1, the output shaft of the motor 1 is combined and the axle of the 3rd conical gear 4 company by a belt wheel
Connect, the 3rd conical gear 4 is meshed with the 4th conical gear 5, so as to horizontal revolving motion is converted into vertical rotary motion.
Alternatively, as shown in figure 1, belt wheel combination includes a small pulley 2 and a big belt wheel 22, small pulley 2 and
The output shaft connection of motor 1, big small pulley is driven by belt 3.
Operation principle of the present utility model is as follows：
As shown in figure 1, after motor 1 slows down through small pulley 2 and big belt wheel 22, by the 3rd conical gear 4 and the 4th circle
Horizontal revolving motion is changed into vertical rotary motion, i.e. axial rotation motion by bevel gear 5, and axial rotation motion now is by connection
The conical gear 15 of axle device 19 and first and the second conical gear 16 pass to cam 9, are put into mechanical arm as shown in Figure 2
Motivation structure, with the rotation of cam 9, drivening rod 11 moves up and down roller 10, first 15 degree of the bottom of rocking bar 12, completes feeding action
It is upper again afterwards to put 15 degree；Now, in the incomplete gear mechanism 23 as shown in Fig. 3,4,5, when incomplete internal gear 21 and first is justified
When stud wheel 6 is engaged, incomplete external gear 20 is not engaged with the second roller gear 7, manipulator body 17 rotates forward 120 degree,
Then incomplete internal gear 21 terminates engagement, and 15 degree of the mechanical arm swing mechanism bottom above puts 15 degree again after completing blowing action；
Then incomplete internal gear 21 is not engaged with the first roller gear 6, incomplete external gear 20 is engaged with the second roller gear 7
When, 120 degree of 17 reversed turning of manipulator body completes a circulation.
The utility model realizes that the interval of mechanical arm swings up and down by cam and endplay device, by incomplete tooth
Wheel mechanism realizes that the intermittent-rotation of manipulator body is moved with cylindrical gear mechanism, simple structure, it is easy to accomplish, take up room
It is small, low cost, good stability being capable of long-time non-stop run, efficiency high.
The utility model provides power source by motor, is combined and the 3rd conical gear, the 4th circular cone tooth by a belt wheel
Wheel, is converted into vertical rotary motion, for incomplete gear mechanism provides power by horizontal revolving motion.
Cam mechanism of the present utility model is located at the inside of manipulator body, and the rotation of manipulator body does not influence manipulator
The swing of arm.
By changing the continuous number of teeth of incomplete external gear and the driving wheel of incomplete internal gear, i.e., occupied by toothed portion
Angle change the anglec of rotation of manipulator body；The bottom on mechanical arm is realized by changing the contour curve of cam
Dynamic angle, so as to realize designated movement.
Particular embodiments described above, the technical problem solved to the utility model, technical scheme and beneficial effect are entered
Go further description, should be understood that and the foregoing is only specific embodiment of the utility model, and without
It is all within spirit of the present utility model and principle in limitation the utility model, any modification, equivalent substitution and improvements done
Deng should be included within protection domain of the present utility model.
Claims (7)
1. a kind of hot upsetting squeeze feeding mechanical hand, it is characterised in that：Including drive device, arms swing mechanism and arm turn-around machine
Structure；The drive device is motor (1), and it provides power for the motion of arms swing mechanism and arm slew gear；It is described
Arm slew gear includes incomplete gear mechanism (23), cylindrical gear mechanism and manipulator body (17), manipulator body
(17) motion, incomplete gear mechanism (23) and Cylinder Gear turbine are transmitted by shaft coupling (19) with incomplete gear mechanism (23)
Structure is meshed, and driving mechanical mobile phone body (17) makees intermittent-rotation motion；The arms swing mechanism is arranged on manipulator body
(17) on, swung up and down relative to manipulator body (17).
2. hot upsetting squeeze feeding mechanical hand according to claim 1, it is characterised in that：The incomplete gear mechanism is included not
Complete internal gear (21) and incomplete external gear (20), the cylindrical gear mechanism include being engaged with incomplete internal gear (21)
The first roller gear (6) and the second roller gear (7) for being engaged with incomplete external gear (20), when incomplete internal gear
(21) engaged with the first roller gear (6), when incomplete external gear (20) is not engaged with the second roller gear (7), mechanical mobile phone
Body (17) is rotated forward；Do not engaged with the first roller gear (6) when incomplete internal gear (21), incomplete external gear (20) and the
When two roller gears (7) are engaged, manipulator body (17) reversed turning.
3. hot upsetting squeeze feeding mechanical hand according to claim 2, it is characterised in that：The band of the incomplete internal gear (21)
Toothed portion occupies 120 degree, and the toothed portion point of the incomplete external gear (20) occupies 240 degree.
4. the hot upsetting squeeze feeding mechanical hand according to Claims 2 or 3, it is characterised in that：The arms swing mechanism includes
Cam mechanism, connecting rod (11), sliding block (13), rocking bar (12) and support (14) that cam (9) is constituted with roller (10), support
(14), rocking bar (12) and sliding block (13) constitute endplay device, and one end of connecting rod (11) is connected on roller (10), other end connection
On sliding block (13), sliding block (13) is enclosed within rocking bar (12), and one end of rocking bar (12) is hinged on support (14)；The manipulator
Body (17) includes intermeshing first conical gear (15) and the second conical gear (16), the cam (9) and the first circle
Bevel gear (15) axle is connected, and band moving cam (9) is rotated, and roller (10) drivening rod (11) are upper and lower with the rotation of cam (9)
Motion, so as to realize swinging up and down for mechanical arm, the rotation of manipulator body (17) does not influence the swing of arms swing mechanism.
5. hot upsetting squeeze feeding mechanical hand according to claim 4, it is characterised in that：The rocking bar (12) swings up and down 15
Degree.
6. hot upsetting squeeze feeding mechanical hand according to claim 4, it is characterised in that：The output shaft of the motor (1) leads to
Cross belt wheel combination to be connected with the 3rd conical gear (4) axle, the 3rd conical gear (4) is meshed with the 4th conical gear (5), from
And horizontal revolving motion is converted into vertical rotary motion.
7. hot upsetting squeeze feeding mechanical hand according to claim 6, it is characterised in that：The belt wheel combination includes a small band
Wheel (2) and a big belt wheel (22), small pulley (2) are connected with the output shaft of motor (1), and big small pulley is passed by belt (3)
It is dynamic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621249125.9U CN206215840U (en) | 2016-11-17 | 2016-11-17 | Hot upsetting-extruding feeding manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621249125.9U CN206215840U (en) | 2016-11-17 | 2016-11-17 | Hot upsetting-extruding feeding manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206215840U true CN206215840U (en) | 2017-06-06 |
Family
ID=58790380
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621249125.9U Withdrawn - After Issue CN206215840U (en) | 2016-11-17 | 2016-11-17 | Hot upsetting-extruding feeding manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206215840U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106424514A (en) * | 2016-11-17 | 2017-02-22 | 常州机电职业技术学院 | Hot upsetting-extruding feeding manipulator |
| CN108162244A (en) * | 2017-12-26 | 2018-06-15 | 宁波高新区新柯保汽车科技有限公司 | For the integration apparatus of plastics dries pulverizing |
-
2016
- 2016-11-17 CN CN201621249125.9U patent/CN206215840U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106424514A (en) * | 2016-11-17 | 2017-02-22 | 常州机电职业技术学院 | Hot upsetting-extruding feeding manipulator |
| CN106424514B (en) * | 2016-11-17 | 2018-05-18 | 常州机电职业技术学院 | Hot upsetting-extruding feeding manipulator |
| CN108162244A (en) * | 2017-12-26 | 2018-06-15 | 宁波高新区新柯保汽车科技有限公司 | For the integration apparatus of plastics dries pulverizing |
| CN108162244B (en) * | 2017-12-26 | 2019-11-12 | 宁波高新区新柯保汽车科技有限公司 | Integration apparatus for plastics dries pulverizing |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170606 Effective date of abandoning: 20180518 |
|
| AV01 | Patent right actively abandoned |