CN107571244A - A kind of rotary-type both arms mechanical hand - Google Patents
A kind of rotary-type both arms mechanical hand Download PDFInfo
- Publication number
- CN107571244A CN107571244A CN201710808798.6A CN201710808798A CN107571244A CN 107571244 A CN107571244 A CN 107571244A CN 201710808798 A CN201710808798 A CN 201710808798A CN 107571244 A CN107571244 A CN 107571244A
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- Prior art keywords
- cross bar
- arm
- motor
- mechanical hand
- montant
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Abstract
The invention discloses a kind of rotary-type both arms mechanical hand, have：Chassis；Rotating disk, it is installed in rotation on chassis；Electric rotating machine, it is fixed in chassis, the rotating shaft of electric rotating machine is fixedly connected with rotating disk；Montant, it is fixed on vertically on rotating disk；Cross bar, it is slidably mounted on montant；Cross bar both ends are respectively provided with a mechanical hand structure, and mechanical hand structure has：First pedestal, is slidably mounted on cross bar；First motor, it is fixedly connected with the first pedestal；First arm；Second arm；Second motor；3rd arm；3rd motor；4th motor；Clamping jaw, can apish bimanual work, scope of activities can be simple in construction according to regulating working conditions, occupies little space.
Description
Technical field
The invention belongs to robotic technology field, more particularly to a kind of rotary-type both arms mechanical hand.
Background technology
During the present invention is realized, inventor has found that prior art at least has problems with：Conventional machines hand is more
For single arm structure, whole actions of the people with two hands can not be imitated, and conventional machines hands movement is limited in scope, it is impossible to root
Change scope according to work operating mode, and it is complicated, and space-consuming is big.
The content of the invention
The technical problems to be solved by the invention be to provide one kind can apish bimanual work, scope of activities can root
Rotary-type both arms mechanical hand simple in construction according to regulating working conditions, occupying little space.
In order to solve the above-mentioned technical problem, the technical solution adopted in the present invention is：A kind of rotary-type both arms mechanical hand, tool
Have：
Chassis；
Rotating disk, it is installed in rotation on the chassis；
Electric rotating machine, it is fixed in the chassis, the rotating shaft of electric rotating machine is fixedly connected with the rotating disk；
Montant, it is fixed on vertically on the rotating disk；
Cross bar, it is slidably mounted on the montant；
The cross bar both ends are respectively provided with a mechanical hand structure, and the mechanical hand structure has：
First pedestal, it is slidably mounted on the cross bar；
First motor, it is fixedly connected with first pedestal；
First arm, first end are fixedly connected with the rotating shaft of first motor；
Second arm, first end and the second end of first arm are hinged；
Second motor, it is fixedly mounted on first arm, the rotating shaft of second motor and the first of second arm
End is fixedly connected；
3rd arm, first end and the second end of second arm are hinged；
3rd motor, it is fixedly mounted on the 3rd arm, the rotating shaft of the 3rd motor and the second of second arm
End is fixedly connected；
4th motor, it is fixedly installed on the second end of the 3rd arm；
Clamping jaw, the rotating shaft with the 4th motor are fixedly connected.
It is slidably mounted in the middle part of the cross bar on the montant.
The montant top is provided with push rod, in addition to elevating mechanism, and the elevating mechanism includes lift cylinder, the lifting
Cylinder is fixedly mounted on the push rod, and the piston rod of lift cylinder is connected with the cross bar；The cross bar both ends are respectively provided with one
Individual lift cylinder.
Also include translation mechanism, the translation mechanism includes flat-removing air cyclinder, and the flat-removing air cyclinder is fixedly mounted on the horizontal stroke
On bar, the piston rod of flat-removing air cyclinder is connected with first pedestal；The flat-removing air cyclinder has two, drives two the first bases respectively
Seat.
The clamping jaw is Pneumatic clamping jaw.
A series of positioning holes are provided with the montant different height, through hole is provided with the middle part of the cross bar；And it is provided with alignment pin
It is adapted to the through hole and positioning hole.
Vertically the montant, the montant are provided with groove to the cross bar, and the cross bar is provided with and mutually fitted with the groove
The sliding block matched somebody with somebody；Groove also is provided with the cross bar, first pedestal is provided with the sliding block being adapted with the groove on cross bar.
A technical scheme in above-mentioned technical proposal has the following advantages that or beneficial effect, sets two groups of arms, can
Complete the work that people needs two hands to complete；Using cross bar and vertical bar structure, occupy little space, it is simple in construction；Can lift and
Translation, so as to change scope of activities, adapts to different operating modes.
Brief description of the drawings
Fig. 1 is the structural representation of the rotary-type both arms mechanical hand provided in the embodiment of the present invention；
Fig. 2 is Fig. 1 partial enlarged drawing；
Mark in above-mentioned figure is：1st, chassis, 2, montant, 3, cross bar, 4, push rod, 5, lift cylinder, 6, flat-removing air cyclinder,
7th, the first pedestal, the 8, first motor, the 9, first arm, the 10, second motor, the 11, second arm, the 12, the 3rd motor, the 13, the 3rd arm,
14th, the 4th motor, 15, clamping jaw, 16, rotating disk.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention
Formula is described in further detail.
Referring to Fig. 1, a kind of rotary-type both arms mechanical hand, have：
Chassis；
Rotating disk, it is installed in rotation on chassis；
Electric rotating machine, it is fixed in chassis, the rotating shaft of electric rotating machine is fixedly connected with rotating disk；It is whole that drive is rotated by rotating disk
Individual device rotates.
Montant, it is fixed on vertically on rotating disk；
Cross bar, it is slidably mounted on montant；Cross bar can slide, so as to change the scope of activities in height.
Cross bar both ends are respectively provided with a mechanical hand structure, and mechanical hand structure has：
First pedestal, is slidably mounted on cross bar；First pedestal can slide, so as to change the movable model on width
Enclose.
First motor, it is fixedly connected with the first pedestal；
First arm, first end are fixedly connected with the rotating shaft of the first motor；The first arm is driven to rotate by the first motor.
Second arm, first end and the second end of the first arm are hinged；
Second motor, it is fixedly mounted on the first arm, the rotating shaft of the second motor is fixedly connected with the first end of the second arm；It is logical
Crossing the second motor drives the second arm to be rotated relative to the first arm, equivalent to one joint.
3rd arm, first end and the second end of the second arm are hinged；
3rd motor, it is fixedly mounted on the 3rd arm, the rotating shaft of the 3rd motor is fixedly connected with the second end of the second arm；It is logical
Crossing the 3rd motor drives the 3rd arm to be rotated relative to the second arm, equivalent to one joint.
4th motor, it is fixedly installed on the second end of the 3rd arm；
Clamping jaw, the rotating shaft with the 4th motor are fixedly connected.Clamping jaw is driven to rotate by the 4th motor.Clamping jaw performs to be final
Mechanism.
It is slidably mounted in the middle part of cross bar on montant.
Montant top is provided with push rod, in addition to elevating mechanism, and elevating mechanism includes lift cylinder, and lift cylinder is fixedly mounted
On push rod, the piston rod of lift cylinder is connected with cross bar；Cross bar both ends are respectively provided with a lift cylinder.
Also include translation mechanism, translation mechanism includes flat-removing air cyclinder, and flat-removing air cyclinder is fixedly mounted on cross bar, flat-removing air cyclinder
Piston rod be connected with the first pedestal；Flat-removing air cyclinder has two, drives two the first pedestals respectively.
Clamping jaw is Pneumatic clamping jaw.
A series of positioning holes are provided with montant different height, through hole is provided with the middle part of cross bar；And provided with alignment pin and through hole and
Positioning hole is adapted to.By alignment pin it is more solid and reliable the relative position of cross bar and montant is fixed.
The vertical montant of cross bar, montant are provided with groove, and cross bar is provided with the sliding block being adapted with groove；It also is provided with cross bar
Groove, the first pedestal are provided with the sliding block being adapted with the groove on cross bar.Cross bar and montant can be dismantled, and sky is taken to save
Between.
After above-mentioned structure, two groups of arms are set, the work that people needs two hands to complete can be completed；Using cross bar
And vertical bar structure, occupy little space, it is simple in construction；It can lift and translate, so as to change scope of activities, adapt to different operating modes.
The present invention is exemplarily described above in conjunction with accompanying drawing, it is clear that present invention specific implementation is not by aforesaid way
Limitation, as long as the improvement of the various unsubstantialities of inventive concept and technical scheme of the present invention progress is employed, or without changing
Enter and the design of the present invention and technical scheme are directly applied into other occasions, within protection scope of the present invention.
Claims (7)
1. a kind of rotary-type both arms mechanical hand, it is characterised in that have：
Chassis；
Rotating disk, it is installed in rotation on the chassis；
Electric rotating machine, it is fixed in the chassis, the rotating shaft of electric rotating machine is fixedly connected with the rotating disk；
Montant, it is fixed on vertically on the rotating disk；
Cross bar, it is slidably mounted on the montant；
The cross bar both ends are respectively provided with a mechanical hand structure, and the mechanical hand structure has：
First pedestal, it is slidably mounted on the cross bar；
First motor, it is fixedly connected with first pedestal；
First arm, first end are fixedly connected with the rotating shaft of first motor；
Second arm, first end and the second end of first arm are hinged；
Second motor, it is fixedly mounted on first arm, the rotating shaft of second motor and the first end of second arm are consolidated
Fixed connection；
3rd arm, first end and the second end of second arm are hinged；
3rd motor, it is fixedly mounted on the 3rd arm, the rotating shaft of the 3rd motor and the second end of second arm are consolidated
Fixed connection；
4th motor, it is fixedly installed on the second end of the 3rd arm；
Clamping jaw, the rotating shaft with the 4th motor are fixedly connected.
2. rotary-type both arms mechanical hand as claimed in claim 1, it is characterised in that be slidably mounted in the middle part of the cross bar
On the montant.
3. rotary-type both arms mechanical hand as claimed in claim 2, it is characterised in that the montant top is provided with push rod, also wraps
Elevating mechanism is included, the elevating mechanism includes lift cylinder, and the lift cylinder is fixedly mounted on the push rod, lift cylinder
Piston rod be connected with the cross bar；The cross bar both ends are respectively provided with a lift cylinder.
4. rotary-type both arms mechanical hand as claimed in claim 3, it is characterised in that also including translation mechanism, the translation machine
Structure includes flat-removing air cyclinder, and the flat-removing air cyclinder is fixedly mounted on the cross bar, the piston rod of flat-removing air cyclinder and first base
Seat connection；The flat-removing air cyclinder has two, drives two the first pedestals respectively.
5. rotary-type both arms mechanical hand as claimed in claim 4, it is characterised in that the clamping jaw is Pneumatic clamping jaw.
6. rotary-type both arms mechanical hand as claimed in claim 5 a, it is characterised in that system is provided with the montant different height
Row positioning hole, the cross bar middle part are provided with through hole；And it is adapted to provided with alignment pin with the through hole and positioning hole.
7. rotary-type both arms mechanical hand as claimed in claim 6, it is characterised in that the vertical montant of the cross bar, it is described
Montant is provided with groove, and the cross bar is provided with the sliding block being adapted with the groove；Groove also is provided with the cross bar, it is described
First pedestal is provided with the sliding block being adapted with the groove on cross bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710808798.6A CN107571244A (en) | 2017-09-09 | 2017-09-09 | A kind of rotary-type both arms mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710808798.6A CN107571244A (en) | 2017-09-09 | 2017-09-09 | A kind of rotary-type both arms mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107571244A true CN107571244A (en) | 2018-01-12 |
Family
ID=61032693
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710808798.6A Withdrawn CN107571244A (en) | 2017-09-09 | 2017-09-09 | A kind of rotary-type both arms mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107571244A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108274260A (en) * | 2018-01-23 | 2018-07-13 | 太仓市万丰塑料制品有限公司 | A kind of fraise jig with automatic loading and unloading function |
| CN108545250A (en) * | 2018-04-23 | 2018-09-18 | 河南浩德科技有限公司 | A kind of stacking machine |
| CN108622650A (en) * | 2018-06-05 | 2018-10-09 | 芜湖致远机电设备科技有限公司 | A kind of traversing conveying device |
| CN109176021A (en) * | 2018-10-24 | 2019-01-11 | 成都西菱动力科技股份有限公司 | The compound automatic processing system of belt pulley opening key label |
| CN110026975A (en) * | 2019-05-16 | 2019-07-19 | 烟台汽车工程职业学院 | A kind of universal manipulator of industrial automation assembly line |
| CN110202544A (en) * | 2019-06-18 | 2019-09-06 | 博达特智能科技（昆山）有限公司 | A kind of dual robot cooperative working device |
| CN111663094A (en) * | 2020-07-24 | 2020-09-15 | 山东劳动职业技术学院（山东劳动技师学院） | Rapid manufacturing equipment for high-melting-point metal arc spraying mold |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008188699A (en) * | 2007-02-02 | 2008-08-21 | Kawada Kogyo Kk | Device for limiting shoulder-to-shoulder space of dual-arm robot, and dual-arm robot with the device |
| CN203527467U (en) * | 2013-10-22 | 2014-04-09 | 浙江宏远数控机床有限公司 | Double-arm manipulator |
| CN205363905U (en) * | 2016-02-24 | 2016-07-06 | 重庆喜达达机器人有限公司 | First arm structure of texturing machine |
-
2017
- 2017-09-09 CN CN201710808798.6A patent/CN107571244A/en not_active Withdrawn
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008188699A (en) * | 2007-02-02 | 2008-08-21 | Kawada Kogyo Kk | Device for limiting shoulder-to-shoulder space of dual-arm robot, and dual-arm robot with the device |
| CN203527467U (en) * | 2013-10-22 | 2014-04-09 | 浙江宏远数控机床有限公司 | Double-arm manipulator |
| CN205363905U (en) * | 2016-02-24 | 2016-07-06 | 重庆喜达达机器人有限公司 | First arm structure of texturing machine |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108274260A (en) * | 2018-01-23 | 2018-07-13 | 太仓市万丰塑料制品有限公司 | A kind of fraise jig with automatic loading and unloading function |
| CN108545250A (en) * | 2018-04-23 | 2018-09-18 | 河南浩德科技有限公司 | A kind of stacking machine |
| CN108622650A (en) * | 2018-06-05 | 2018-10-09 | 芜湖致远机电设备科技有限公司 | A kind of traversing conveying device |
| CN109176021A (en) * | 2018-10-24 | 2019-01-11 | 成都西菱动力科技股份有限公司 | The compound automatic processing system of belt pulley opening key label |
| CN109176021B (en) * | 2018-10-24 | 2023-12-15 | 成都西菱动力科技股份有限公司 | Belt pulley hole key mark composite automatic processing system |
| CN110026975A (en) * | 2019-05-16 | 2019-07-19 | 烟台汽车工程职业学院 | A kind of universal manipulator of industrial automation assembly line |
| CN110202544A (en) * | 2019-06-18 | 2019-09-06 | 博达特智能科技（昆山）有限公司 | A kind of dual robot cooperative working device |
| CN111663094A (en) * | 2020-07-24 | 2020-09-15 | 山东劳动职业技术学院（山东劳动技师学院） | Rapid manufacturing equipment for high-melting-point metal arc spraying mold |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180112 |