CN107825409A - A kind of feeding mechanical hand - Google Patents
A kind of feeding mechanical hand Download PDFInfo
- Publication number
- CN107825409A CN107825409A CN201711098993.0A CN201711098993A CN107825409A CN 107825409 A CN107825409 A CN 107825409A CN 201711098993 A CN201711098993 A CN 201711098993A CN 107825409 A CN107825409 A CN 107825409A
- Authority
- CN
- China
- Prior art keywords
- base
- clamping jaw
- support
- mechanical hand
- rotary shaft
- 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.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 239000000463 material Substances 0.000 abstract description 4
- 230000002262 irrigation Effects 0.000 abstract 1
- 238000003973 irrigation Methods 0.000 abstract 1
- 230000008859 change Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000003028 elevating effect Effects 0.000 description 3
- 230000035939 shock Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of feeding mechanical hand, the machinery equipment field of part is captured.360 degree of rotations can be carried out by rotating mechanism by clamping jaw by aiming to provide one kind, the feeding mechanical hand for facilitating material to shift, its drip irrigation device is to include base and clamping jaw, base is provided with the support for being used for placing clamping jaw, support is rotatablely connected with clamping jaw, rotary shaft is provided between frame bottom and base, rotary shaft is fixedly connected with support, rotary shaft is connected with base rotation, and the rotating mechanism for being used for driving rotary shaft to rotate is provided between base and support.This manipulator is by setting rotating mechanism, so as to control the rotation of support, facilitates manipulator to capture part, and part is placed into specified location.This manipulator can be moved under a variety of dimensions, can so meet it is a variety of in the case of, for the demand of manipulator flexibility ratio.
Description
Technical field
The present invention relates to the machinery equipment field of crawl part, more particularly to a kind of feeding mechanical hand.
Background technology
Manipulator is a kind of some holding functions that can imitate human hand and arm, to be captured by fixed routine, carry object
Or the automatic pilot of operation instrument.Feature is that various expected operations can be completed by programming, on construction and performance
The advantages of having people and robotics concurrently each.
Manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest, and it can be instead of the numerous of people
Heavy work can be operated to protect personal safety with realizing the mechanization of production and automation under hostile environment, thus extensively should
For departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
At present, Publication No. CN294546272 Chinese patent discloses a kind of manipulator, and it, which includes, is fixed on base
On support bar, by installing plate equipped with the guide erect on the support bar, elevating lever is fitted with the guide, described
The top of guide is provided with stopper slot, and the elevating lever is provided with the position-limitting pin for stretching into the stopper slot；Under the elevating lever
Portion is connected with up-small and down-big tapered sleeve and clamping jaw rest pad in turn by screw thread, and its top of the tapered sleeve is provided with rotary handle, its
Outside slidably connects clamping jaw.
Although this manipulator reduces work amplitude, but after gripping material, can not be rotated, it is impossible to meet polygonal
Spend the demand of handling material.
The content of the invention
It is an object of the invention to provide a kind of feeding mechanical hand, and it, which has, to be carried out clamping jaw by rotating mechanism
360 degree of rotations, the advantages of facilitating material to shift.
The present invention above-mentioned technical purpose technical scheme is that：
A kind of feeding mechanical hand, including base and clamping jaw, base are provided with the support for being used for placing clamping jaw, and support rotates with clamping jaw
Connection, is provided with rotary shaft between frame bottom and base, rotary shaft is fixedly connected with support, and rotary shaft is connected with base rotation,
The rotating mechanism for being used for driving rotary shaft to rotate is provided between base and support.
By using above-mentioned technical proposal, after clamping jaw grips part, rotating mechanism driving arm drives clamping jaw the bottom of with respect to
Seat is rotated, and the part that clamping jaw grips is placed into specified location, can so meet the needs of multi-angle places part, meets one
The demand of a little in particular cases 360 degree of rotations.
Further set：The rotating mechanism includes being arranged on rotary shaft gear, and base is provided with and gear engaging tooth
Bar, the drive device for driving rack to slide in the horizontal direction is additionally provided with base.
By using above-mentioned technical proposal, by drive device driving rack sliding, rack and pinion engagement, so pass through tooth
Wheel drives rotary shaft to rotate, easily and effectively.
Further set：The base is provided with the slip base for being used for placing rack, and rack is provided with T backwards to rotary shaft side
Type slide rail, slip base are provided with the T-shaped chute coordinated with T-shaped slide rail towards rack side.
By using above-mentioned technical proposal, the T-shaped slide rail at the rack back side and T-shaped chute are coordinated, so when T-shaped slide rail band
When carry-over bar slides, T-shaped slide rail slides more stable in T-shaped chute, it may also be said to prevents T-shaped slide rail from deviateing sliding path.
Further set：The drive device is drive cylinder.
It is such preferably to control support by drive cylinder driving rack sliding by using above-mentioned technical proposal
The anglec of rotation, facilitate industrialized production.Further, it is also possible to change the cylinder of different demands as the case may be, selection is more,
Meet it is a variety of in the case of use.
Further set：The clamping jaw includes clamping jaw cylinder, and clamping jaw cylinder is provided with two cleft hands being oppositely arranged.
By using above-mentioned technical proposal, control two cleft hands relatively close or remote by clamping jaw cylinder, so that
Two cleft hands catch part, and operation more facilitates.
Further set：The space of projection is formed between described two cleft hands are relative.
By using above-mentioned technical proposal, raised space is formed between two cleft hands, so closer to the outer of part
Shape, so when two cleft hands catch part, the contact area with cleft hand can be increased, it is more stable so to grip part.
Further set：The clamping jaw cylinder tail end is connected with holder pivots, and support, which is provided with, to be used to drive clamping jaw cylinder
The rotary cylinder that opposite brackets rotate.
By using above-mentioned technical proposal, rotary cylinder control clamping jaw rotates, and so more facilitates clamping jaw to grip part, can
With meet it is a variety of in the case of, grip the demand of part.
Further set：The support includes the vertical stand being vertically arranged and horizontally disposed level frame, vertical stand and level
Frame is rotatablely connected.
By using above-mentioned technical proposal, vertical stand coordinates with level frame, met in actual production process, for manipulator
The demand of height, so it is also convenient for manipulator gripping part.
Further set：The vertical stand, which is provided with, to be used to drive level frame opposed vertical frame vertically to rotate upwardly and downwardly
Rotation cylinder, rotation cylinder both ends are hinged with vertical stand and level frame respectively.
By using above-mentioned technical proposal, rotation cylinder driving level frame is around level frame and vertical stand junction along vertical
Direction moves up and down, and so facilitates manipulator to leave streamline, will grab part and be put into specified location.
Further set：The rotary shaft is provided with a sleeve, and lacking for wheel and rack contact is offered on sleeve
Mouthful.
By using above-mentioned technical proposal, sleeve can protect gear in use by other articles shock and
Damage, so as to extend the life-span of gear, reduce gear and change.
In summary, the invention has the advantages that：
1st, this manipulator is by setting rotating mechanism, so as to control the rotation of support, facilitates manipulator to capture part, and by part
It is placed into specified location；
2nd, this manipulator can be moved under a variety of dimensions, can so meet it is a variety of in the case of, for manipulator flexibility ratio
Demand.
Brief description of the drawings
Fig. 1 is the structural representation of manipulator in embodiment 1；
Fig. 2 is the structural representation for being used to show rotational structure in embodiment 1；
Fig. 3 is the part A enlarged drawing of Fig. 2 in embodiment 1；
Fig. 4 is the part B enlarged drawing of Fig. 2 in embodiment 1；
Fig. 5 is the structural representation for being used to show sleeve in embodiment 1.
In figure, 1, base；11st, slip base；2nd, clamping jaw；21st, clamping jaw cylinder；22nd, cleft hand；3rd, rotary shaft；4th, rotating mechanism；
41st, gear；42nd, rack；43rd, drive device；431st, drive cylinder；5th, T-shaped slide rail；51st, T-shaped chute；6th, support；61st, it is vertical
Frame；62nd, level frame；621st, first；622nd, the second frame；623rd, tumble cylinder；7th, rotary cylinder；8th, rotation cylinder；9th, sleeve.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
Embodiment 1：A kind of feeding mechanical hand, as shown in Fig. 1,2 and then 3, including base 1 and clamping jaw 2, base 1 are provided with
For placing the support 6 of clamping jaw 2, support 6 is rotatablely connected with clamping jaw 2, and rotary shaft 3 is provided between the bottom of support 6 and base 1, rotation
Rotating shaft 3 is fixedly connected with support 6, and the base 1 of rotary shaft 3 is rotatablely connected, and is provided between base 1 and support 6 and is used to drive rotary shaft 3
The rotating mechanism 4 of rotation.After clamping jaw 2 grips part, the driving arm 6 of rotating mechanism 4 drives clamping jaw 2 to be rotated relative to base 1, will
The part that clamping jaw 2 grips is placed into specified location, can so meet the needs of multi-angle places part, meet some special feelings
The demand of 360 degree of rotations under condition.
As shown in Figures 2 and 3, rotating mechanism 4 includes being arranged on the gear 41 of rotary shaft 3, and base 1 is provided with and nibbled with gear 41
Rack 42 is closed, the drive device 43 for driving rack 42 to slide in the horizontal direction, herein, drive device are additionally provided with base 1
43 be preferably drive cylinder 431.Rack 42 is driven to slide by drive device 43, rack 42 engages with gear 41, so passes through tooth
The drive of wheel 41 rotary shaft 3 rotates, easily and effectively.
As shown in figure 3, base 1 is provided with the slip base 11 for being used for placing rack 42, rack 42 is set backwards to the side of rotary shaft 3
There is T-shaped slide rail 5, slip base 11 is provided with the T-shaped chute 51 coordinated with T-shaped slide rail 5 towards the side of rack 42, and T-shaped slide rail 5 is embedded in T
In type chute 51.The T-shaped slide rail 5 at the back side of rack 42 and T-shaped chute 51 are coordinated, so when T-shaped slide rail 5 slides with carry-over bar 42
When, the sliding in T-shaped chute 51 of T-shaped slide rail 5 is more stable, it may also be said to prevents T-shaped slide rail 5 from deviateing sliding path.By driving
Cylinder 431 drives rack 42 to slide, and such anglec of rotation that can preferably control support 6, facilitates industrialized production.This
Outside, can also change the cylinder of different demands as the case may be, selection is more, meet it is a variety of in the case of use.
As shown in figure 4, clamping jaw 2 includes clamping jaw cylinder 21, clamping jaw cylinder 21 is provided with two cleft hands 22 being oppositely arranged.Two
The space of projection is formed between individual tong is relative.Control two cleft hands 22 relatively close or remote by clamping jaw cylinder 21, so as to
So that two cleft hands 22 catch part, operation more facilitates.Formed between two cleft hands 22 projection space, so closer to
The profile of part, so when two cleft hands 22 catch part, the contact area with cleft hand 22 can be increased, so grip part more
Add stabilization.And suitable clamping jaw 2 can also be accordingly changed according to accessory size.
As shown in figure 4, the tail end of clamping jaw cylinder 21 is rotatablely connected with support 6, support 6, which is provided with, to be used to drive clamping jaw cylinder 21
The rotary cylinder 7 that opposite brackets 6 rotate.Rotary cylinder 7 controls clamping jaw 2 to rotate, and so more facilitates clamping jaw 2 to grip part, can
With meet it is a variety of in the case of, grip the demand of part.
As shown in figure 1, support 6 includes vertical stand 61 and horizontally disposed level frame 62, vertical stand 61 and the water being vertically arranged
Flatrack 62 is rotatablely connected.Vertical stand 61 is provided with to be turned for driving the opposed vertical frame 61 of level frame 62 vertically to rotate upwardly and downwardly
Take offence cylinder 8, the both ends of rotation cylinder 8 are be hinged with vertical stand 61 and level frame 62 respectively.Level frame 62 includes first 621 and second
Frame 622, first 621 are rotatablely connected with the second frame 622, and the second frame 622 is provided with tumble cylinder 623, and tumble cylinder 623 is used for
Driving first 621 is spun upside down.Rotation cylinder 8 drives level frame 62 around level frame 62 and the junction of vertical stand 61 along vertical
Direction moves up and down, and so facilitates manipulator to leave streamline, will grab part and be put into specified location.
As shown in Figures 3 and 5, rotary shaft 3 is provided with a sleeve 9, and sleeve 9 is located in rotary shaft 3, sleeve 9 and base 1
It is fixedly connected.The breach contacted for gear 41 with rack 42 is offered on sleeve 9.Sleeve 9 can protect gear 41 using
By the shock and damage of other articles in journey, so as to extend the life-span of gear 41, reduce gear 41 and change.
The above embodiments are only explanation of the invention, and it is not limitation of the present invention, people in the art
Member can make the modification of no creative contribution to the present embodiment as needed after this specification is read, but as long as at this
All protected in the right of invention by Patent Law.
Claims (10)
- A kind of 1. feeding mechanical hand, it is characterised in that：Including base（1）And clamping jaw（2）, base（1）It is provided with and is used for placing clamp Pawl（2）Support（6）, support（6）With clamping jaw（2）Rotation connection, support（6）Bottom and base（1）Between be provided with rotary shaft （3）, rotary shaft（3）With support（6）It is fixedly connected, rotary shaft（3）With base（1）Rotation connection, base（1）With support（6）It Between be provided be used for drive rotary shaft（3）The rotating mechanism of rotation（4）.
- A kind of 2. feeding mechanical hand according to claim 1, it is characterised in that：The rotating mechanism（4）Including being arranged on Rotary shaft（3）Gear（41）, base（1）It is provided with and gear（41）Pinion rack（42）, base（1）On be additionally provided with for driving Carry-over bar（42）The drive device slid in the horizontal direction（43）.
- A kind of 3. feeding mechanical hand according to claim 2, it is characterised in that：The base（1）It is provided with and is used to place Rack（42）Slip base（11）, rack（42）Backwards to rotary shaft（3）Side is provided with T-shaped slide rail（5）, slip base（11）Towards tooth Bar（42）Side is provided with and T-shaped slide rail（5）The T-shaped chute coordinated（51）.
- A kind of 4. feeding mechanical hand according to claim 3, it is characterised in that：The drive device（43）For drive cylinder （431）.
- A kind of 5. feeding mechanical hand according to claim 4, it is characterised in that：The clamping jaw（2）Including clamping jaw cylinder （21）, clamping jaw cylinder（21）It is provided with two cleft hands being oppositely arranged（22）.
- A kind of 6. feeding mechanical hand according to claim 5, it is characterised in that：Described two cleft hands（22）Shape between relative Into the space of projection.
- A kind of 7. feeding mechanical hand according to claim 6, it is characterised in that：The clamping jaw cylinder（21）Tail end and support （6）Rotation connection, support（6）It is provided with and is used to drive clamping jaw cylinder（21）Opposite brackets（6）The rotary cylinder of rotation（7）.
- A kind of 8. feeding mechanical hand according to claim 7, it is characterised in that：The support（6）Including what is be vertically arranged Vertical stand（61）With horizontally disposed level frame（62）, vertical stand（61）With level frame（62）Rotation connection.
- A kind of 9. feeding mechanical hand according to claim 8, it is characterised in that：The vertical stand（61）It is provided with and is used to drive Dynamic level frame（62）Opposed vertical frame（61）Vertically rotate upwardly and downwardly rotation cylinder（8）, rotation cylinder（8）Both ends respectively with Vertical stand（61）And level frame（62）It is be hinged.
- A kind of 10. feeding mechanical hand according to claim 9, it is characterised in that：The rotary shaft（3）It is provided with a set Cylinder（9）, sleeve（9）On offer for gear（41）With rack（42）The breach of contact.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711098993.0A CN107825409A (en) | 2017-11-09 | 2017-11-09 | A kind of feeding mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711098993.0A CN107825409A (en) | 2017-11-09 | 2017-11-09 | A kind of feeding mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107825409A true CN107825409A (en) | 2018-03-23 |
Family
ID=61655064
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711098993.0A Pending CN107825409A (en) | 2017-11-09 | 2017-11-09 | A kind of feeding mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107825409A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108908281A (en) * | 2018-07-16 | 2018-11-30 | 安徽智森电子科技有限公司 | A kind of self-feeding mechanical arm |
| CN109941939A (en) * | 2019-03-18 | 2019-06-28 | 南京涵铭置智能科技有限公司 | A kind of manipulator being exclusively used in bottle cap and its working method |
| CN110668165A (en) * | 2019-10-28 | 2020-01-10 | 青岛萨沃特机器人有限公司 | Material grabbing hand device |
| CN110732910A (en) * | 2019-11-22 | 2020-01-31 | 大连连城数控机器股份有限公司 | kinds of blanking mechanical arm |
| CN111113388A (en) * | 2020-01-08 | 2020-05-08 | 绵阳鸿悦圣达科技有限公司 | Machine part grabbing arm |
| CN111300737A (en) * | 2020-03-03 | 2020-06-19 | 浙江海宁普赛自动化科技有限公司 | Manipulator feeding mechanism between shaping process and injection molding |
| CN111673786A (en) * | 2020-07-19 | 2020-09-18 | 深圳市华瑞康生物科技有限公司 | A mechanical gripper that can be rotated at will |
| CN112247969A (en) * | 2020-10-14 | 2021-01-22 | 广州信邦智能装备股份有限公司 | Gantry manipulator |
| CN114394420A (en) * | 2022-01-25 | 2022-04-26 | 上海裕科工业投资(集团)有限公司 | Harmless unloading mechanism |
| CN116690545A (en) * | 2023-08-03 | 2023-09-05 | 佛山隆深机器人有限公司 | Triaxial steering regulation and control mechanical arm and robot |
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| US2829371A (en) * | 1955-10-26 | 1958-04-08 | Gen Electric | Component placement apparatus |
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| CN206066478U (en) * | 2016-08-31 | 2017-04-05 | 衢州市荣胜冶金设备有限公司 | A kind of metal bar gripping manipulator |
| CN206445815U (en) * | 2017-01-19 | 2017-08-29 | 珠海市椿田机械科技有限公司 | A kind of multi-function robot |
| CN207415361U (en) * | 2017-11-09 | 2018-05-29 | 无锡百禾工业机器人有限公司 | A kind of feeding mechanical hand |
-
2017
- 2017-11-09 CN CN201711098993.0A patent/CN107825409A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US2829371A (en) * | 1955-10-26 | 1958-04-08 | Gen Electric | Component placement apparatus |
| GB880152A (en) * | 1958-09-19 | 1961-10-18 | Gen Mills Inc | Remote control manipulators |
| CN206066478U (en) * | 2016-08-31 | 2017-04-05 | 衢州市荣胜冶金设备有限公司 | A kind of metal bar gripping manipulator |
| CN106393075A (en) * | 2016-11-25 | 2017-02-15 | 安徽智联投资集团有限公司 | Manipulator device for automatic supply |
| CN206445815U (en) * | 2017-01-19 | 2017-08-29 | 珠海市椿田机械科技有限公司 | A kind of multi-function robot |
| CN207415361U (en) * | 2017-11-09 | 2018-05-29 | 无锡百禾工业机器人有限公司 | A kind of feeding mechanical hand |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108908281A (en) * | 2018-07-16 | 2018-11-30 | 安徽智森电子科技有限公司 | A kind of self-feeding mechanical arm |
| CN109941939A (en) * | 2019-03-18 | 2019-06-28 | 南京涵铭置智能科技有限公司 | A kind of manipulator being exclusively used in bottle cap and its working method |
| CN110668165A (en) * | 2019-10-28 | 2020-01-10 | 青岛萨沃特机器人有限公司 | Material grabbing hand device |
| CN110732910A (en) * | 2019-11-22 | 2020-01-31 | 大连连城数控机器股份有限公司 | kinds of blanking mechanical arm |
| CN111113388A (en) * | 2020-01-08 | 2020-05-08 | 绵阳鸿悦圣达科技有限公司 | Machine part grabbing arm |
| CN111300737A (en) * | 2020-03-03 | 2020-06-19 | 浙江海宁普赛自动化科技有限公司 | Manipulator feeding mechanism between shaping process and injection molding |
| CN111673786A (en) * | 2020-07-19 | 2020-09-18 | 深圳市华瑞康生物科技有限公司 | A mechanical gripper that can be rotated at will |
| CN112247969A (en) * | 2020-10-14 | 2021-01-22 | 广州信邦智能装备股份有限公司 | Gantry manipulator |
| CN114394420A (en) * | 2022-01-25 | 2022-04-26 | 上海裕科工业投资(集团)有限公司 | Harmless unloading mechanism |
| CN114394420B (en) * | 2022-01-25 | 2024-07-23 | 上海裕科工业投资(集团)有限公司 | Harmless unloading mechanism |
| CN116690545A (en) * | 2023-08-03 | 2023-09-05 | 佛山隆深机器人有限公司 | Triaxial steering regulation and control mechanical arm and robot |
| CN116690545B (en) * | 2023-08-03 | 2023-10-17 | 佛山隆深机器人有限公司 | Triaxial steering regulation and control mechanical arm and robot |
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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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180323 |
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| RJ01 | Rejection of invention patent application after publication |