CN205219154U - Rotary mechanical hand - Google Patents
Rotary mechanical hand Download PDFInfo
- Publication number
- CN205219154U CN205219154U CN201521114210.XU CN201521114210U CN205219154U CN 205219154 U CN205219154 U CN 205219154U CN 201521114210 U CN201521114210 U CN 201521114210U CN 205219154 U CN205219154 U CN 205219154U
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- Prior art keywords
- traversing
- gripping
- upside
- downside
- hydraulic cylinder
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 5
- 230000007704 transition Effects 0.000 claims description 11
- 239000003292 glue Substances 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract 2
- 230000008878 coupling Effects 0.000 abstract 1
- 238000010168 coupling process Methods 0.000 abstract 1
- 238000005859 coupling reaction Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
- 230000017105 transposition Effects 0.000 description 1
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- Manipulator (AREA)
Abstract
Rotary mechanical hand belongs to mechanical technical field. The utility model provides a: including the support body, characterized by is equipped with the fixing base at the support body downside, and the fixing base both sides are equipped with fixed cassette, and fixed cassette downside is equipped with movable cassette, is equipped with cassette fastening handle between activity cassette and the fixed cassette, and cassette fastening handle links together through synchronous connection pivot and activity cassette, and cassette fastening handle upside is equipped with fastening coupling nut, and the support body upside is equipped with horizontal rotatory servo motor, and transversely rotatory servo motor downside is equipped with and violently changes the motor fixing base. The utility model discloses simple structure, simple to operate can realize opening and shutting greatly pressing from both sides and get the article, and the article simultaneously can the butt clamp got rotate that commutate and the removal is transported.
Description
technical field:the utility model belongs to field of mechanical technique, specifically a kind of rotary machine hand.
background technology:in modern manufacturing industry, for the streamline run up, rhythm of production is at a high speed the key factor producing enterprise profit, but often in labour intensive industry to being easily produce quality accident under the continuity job requirement of workman, such industry robot and some simple mechanical arms are just applied in production, carry out alternative workman, but the price comparison of industry robot, simple mechanical arm can only complete some straight lines transposition motion, cannot realize some curve movements and commutation action.
summary of the invention:the purpose of this utility model is to provide one can realize large folding gripping object, carries out rotating commutation and the mobile rotary machine hand transported to the object of gripping simultaneously.
The technical solution of the utility model is: comprise support body, it is characterized in that being provided with holder on the downside of support body, holder both sides are provided with Fixing clamp-seat, movable deck is provided with on the downside of Fixing clamp-seat, deck pinch grip is provided with between movable deck and Fixing clamp-seat, deck pinch grip is linked together by synchronized links rotating shaft and movable deck, be provided with on the upside of deck pinch grip and be fastenedly connected nut, transverse rotation servomotor is provided with on the upside of support body, horizontal rotating motor holder is provided with on the downside of transverse rotation servomotor, transverse rotation fixed mount is provided with on the upside of transverse rotation servomotor, traversing angular transducer is provided with on the downside of transverse rotation fixed mount, laterally fixing chute is provided with on the upside of transverse rotation fixed mount, laterally be provided with traversing stable slide block in fixing chute, hydraulically extensible lever arm is provided with on the left of traversing stable slide block, hydraulically extensible lever arm is linked together by slide block fixed connector and traversing stable slide block, transition driving hydraulic cylinder is provided with on the left of hydraulically extensible lever arm, hydraulic cylinder holder is provided with on the left of transition driving hydraulic cylinder, traversing airborne laser range finder is provided with on the upside of transition driving hydraulic cylinder, traversing airborne laser range finder is linked together by traversing laser fixed connector and horizontal fixing chute, traversing lever arm is provided with on the upside of traversing stable slide block, traversing lever arm is fixedly connected with frame by traversing arm and traversing stable slide block links together, traversing arm is fixedly connected with on the left of frame and is provided with traversing laser ranging baffle plate, traversing range finding baffle plate holder is provided with on the downside of traversing laser ranging baffle plate, vertical rotary servomotor is provided with on the right side of traversing lever arm, vertical rotary servomotor is fixed together by motor vertical holder and traversing lever arm, mechanical gripping frame is provided with on the right side of vertical rotary servomotor, machinery gripping frame is linked together by gripping frame fixed connector and vertical rotary servomotor, vertical angle detecting sensor is provided with on the downside of machinery gripping frame, be provided with gripper on the right side of machinery gripping frame and fix chute, gripper is fixed the upper and lower both sides of chute and is provided with the spacing adjusting bracket of gripping, gripping limit sensors is provided with on the right side of the spacing adjusting bracket of gripping, gripper is fixed in chute and is provided with two-way gripping hydraulic cylinder, gripping alignment sensor is provided with on the right side of two-way gripping hydraulic cylinder, the two-way upper and lower both sides of gripping hydraulic cylinder are provided with gripping telescopic drive arm, gripper is provided with on the right side of gripping telescopic drive arm, gripper stablizes slide block by gripping and gripping telescopic drive arm links together.
As preferably, on the upside of described movable deck, be provided with antiskid glue cushion.
As preferably, on front side of the spacing adjusting bracket of described gripping, be provided with distance indicator graduation lines.
As preferably, described gripper inboard is provided with gripping pressure sensor.
The utility model beneficial effect is: the utility model structure is simple, easy for installation, can realize large folding gripping object, can carry out rotation commutation and mobile transport to the object of gripping simultaneously.
accompanying drawing illustrates:
Accompanying drawing 1 is the utility model overall structure schematic diagram.
Accompanying drawing 2 is the utility model laterally fixing sliding groove structure schematic diagram.
Accompanying drawing 3 fixes sliding groove structure schematic diagram for the utility model gripper.
In figure 1, support body, 2, holder, 3, Fixing clamp-seat, 4, movable deck, 5, deck pinch grip, 6, synchronized links rotating shaft, 7, be fastenedly connected nut, 8, transverse rotation servomotor, 9, horizontal rotating motor holder, 10, transverse rotation fixed mount, 11, traversing angular transducer, 12, laterally fixing chute, 13, traversing stable slide block, 14, hydraulically extensible lever arm, 15, slide block fixed connector, 16, transition driving hydraulic cylinder, 17, hydraulic cylinder holder, 18, traversing airborne laser range finder, 19, traversing laser fixed connector, 20, traversing lever arm, 21, traversing arm is fixedly connected with frame, and 22, traversing laser ranging baffle plate, 23, traversing range finding baffle plate holder, 24, vertical rotary servomotor, 25, motor vertical holder, 26, machinery gripping frame, 27, gripping frame fixed connector, 28, vertical angle detecting sensor, 29, gripper fixes chute, and 30, the spacing adjusting bracket of gripping, 31, gripping limit sensors, 32, two-way gripping hydraulic cylinder, 33, gripping alignment sensor, 34, gripping telescopic drive arm, 35, gripper, 36, slide block is stablized in gripping, and 37, antiskid glue cushion, 38, distance indicator graduation lines, 39, gripping pressure sensor.
detailed description of the invention:rotary machine hand, comprise support body 1, it is characterized in that being provided with holder 2 on the downside of support body 1, holder 2 both sides are provided with Fixing clamp-seat 3, movable deck 4 is provided with on the downside of Fixing clamp-seat 3, deck pinch grip 5 is provided with between movable deck 4 and Fixing clamp-seat 3, deck pinch grip 5 is linked together by synchronized links rotating shaft 6 and movable deck 4, be provided with on the upside of deck pinch grip 5 and be fastenedly connected nut 7, transverse rotation servomotor 8 is provided with on the upside of support body 1, horizontal rotating motor holder 9 is provided with on the downside of transverse rotation servomotor 8, transverse rotation fixed mount 10 is provided with on the upside of transverse rotation servomotor 8, traversing angular transducer 11 is provided with on the downside of transverse rotation fixed mount 10, laterally fixing chute 12 is provided with on the upside of transverse rotation fixed mount 10, laterally be provided with traversing stable slide block 13 in fixing chute 12, hydraulically extensible lever arm 14 is provided with on the left of traversing stable slide block 13, hydraulically extensible lever arm 14 is linked together by slide block fixed connector 15 and traversing stable slide block 13, transition driving hydraulic cylinder 16 is provided with on the left of hydraulically extensible lever arm 14, hydraulic cylinder holder 17 is provided with on the left of transition driving hydraulic cylinder 16, traversing airborne laser range finder 18 is provided with on the upside of transition driving hydraulic cylinder 17, traversing airborne laser range finder 18 is linked together by traversing laser fixed connector 19 and horizontal fixing chute 12, traversing lever arm 20 is provided with on the upside of traversing stable slide block 13, traversing lever arm 20 is fixedly connected with frame 21 by traversing arm and traversing stable slide block 13 links together, traversing arm is fixedly connected with on the left of frame 21 and is provided with traversing laser ranging baffle plate 22, traversing range finding baffle plate holder 23 is provided with on the downside of traversing laser ranging baffle plate 22, vertical rotary servomotor 24 is provided with on the right side of traversing lever arm 20, vertical rotary servomotor 24 is fixed together by motor vertical holder 25 and traversing lever arm 20, mechanical gripping frame 26 is provided with on the right side of vertical rotary servomotor 24, machinery gripping frame 26 is linked together by gripping frame fixed connector 27 and vertical rotary servomotor 24, vertical angle detecting sensor 28 is provided with on the downside of machinery gripping frame 26, be provided with gripper on the right side of machinery gripping frame 26 and fix chute 29, gripper is fixed chute about 29 both sides and is provided with the spacing adjusting bracket 30 of gripping, gripping limit sensors 31 is provided with on the right side of the spacing adjusting bracket 30 of gripping, gripper is fixed in chute 29 and is provided with two-way gripping hydraulic cylinder 32, gripping alignment sensor 33 is provided with on the right side of two-way gripping hydraulic cylinder 32, two-way gripping hydraulic cylinder about 32 both sides are provided with gripping telescopic drive arm 34, gripper 35 is provided with on the right side of gripping telescopic drive arm 34, gripper 35 stablizes slide block 36 by gripping and gripping telescopic drive arm 34 links together.In use, by Fixing clamp-seat 3 and movable deck 4 can be flexible the utility model is effectively fixed, transverse rotation servomotor 8 carries out transverse rotation adjustment by driving transverse rotation fixed mount 10 pairs of grippers 35, traversing angular transducer 11 can the angle of transverse rotation accurately detect, transition driving hydraulic cylinder 16 can carry out transversal stretching by hydraulically extensible lever arm 14 driving device pawl 35 and move, traversing airborne laser range finder 18 accurately can detect transverse shifting distance, vertical rotary servomotor 24 can carry out vertical rotary adjustment to gripper 35, vertical angle detecting sensor 28 accurately can detect the angle of vertical rotary, gripper 35 accurately can be located gripping thing by gripping alignment sensor 33, after having located, two-way gripping hydraulic cylinder 32 can carry out gripping by gripping telescopic drive arm 34 driving device pawl 35 pairs of objects, gripping limit sensors 31 can limit the distance of opening of gripper 35.
As preferably, on the upside of described movable deck 4, be provided with antiskid glue cushion 37.Such setting, stability when can effectively improve fixing.
As preferably, on front side of the spacing adjusting bracket 30 of described gripping, be provided with distance indicator graduation lines 38.Such setting, is convenient to accurately adjust spacing distance.
As preferably, described gripper 35 inboard is provided with gripping pressure sensor 39.Such setting, accurately can detect the dynamics of object gripping.
Claims (4)
1. rotary machine hand, comprise support body (1), it is characterized in that: be provided with holder (2) in support body (1) downside, holder (2) both sides are provided with Fixing clamp-seat (3), Fixing clamp-seat (3) downside is provided with movable deck (4), deck pinch grip (5) is provided with between movable deck (4) and Fixing clamp-seat (3), deck pinch grip (5) is linked together by synchronized links rotating shaft (6) and movable deck (4), deck pinch grip (5) upside is provided with and is fastenedly connected nut (7), support body (1) upside is provided with transverse rotation servomotor (8), transverse rotation servomotor (8) downside is provided with horizontal rotating motor holder (9), transverse rotation servomotor (8) upside is provided with transverse rotation fixed mount (10), transverse rotation fixed mount (10) downside is provided with traversing angular transducer (11), transverse rotation fixed mount (10) upside is provided with laterally fixing chute (12), laterally be provided with traversing stable slide block (13) in fixing chute (12), traversing stable slide block (13) left side is provided with hydraulically extensible lever arm (14), hydraulically extensible lever arm (14) is linked together by slide block fixed connector (15) and traversing stable slide block (13), hydraulically extensible lever arm (14) left side is provided with transition driving hydraulic cylinder (16), transition driving hydraulic cylinder (16) left side is provided with hydraulic cylinder holder (17), transition driving hydraulic cylinder (17) upside is provided with traversing airborne laser range finder (18), traversing airborne laser range finder (18) is linked together by traversing laser fixed connector (19) and horizontal fixing chute (12), traversing stable slide block (13) upside is provided with traversing lever arm (20), traversing lever arm (20) is fixedly connected with frame (21) by traversing arm and traversing stable slide block (13) links together, traversing arm is fixedly connected with frame (21) left side and is provided with traversing laser ranging baffle plate (22), traversing laser ranging baffle plate (22) downside is provided with traversing range finding baffle plate holder (23), traversing lever arm (20) right side is provided with vertical rotary servomotor (24), vertical rotary servomotor (24) is fixed together by motor vertical holder (25) and traversing lever arm (20), vertical rotary servomotor (24) right side is provided with mechanical gripping frame (26), machinery gripping frame (26) is linked together by gripping frame fixed connector (27) and vertical rotary servomotor (24), machinery gripping frame (26) downside is provided with vertical angle detecting sensor (28), machinery gripping frame (26) right side is provided with gripper and fixes chute (29), gripper is fixed chute (29) and is provided with the spacing adjusting bracket of gripping (30) in both sides up and down, the spacing adjusting bracket of gripping (30) right side is provided with gripping limit sensors (31), gripper is fixed in chute (29) and is provided with two-way gripping hydraulic cylinder (32), two-way gripping hydraulic cylinder (32) right side is provided with gripping alignment sensor (33), two-way gripping hydraulic cylinder (32) is provided with gripping telescopic drive arm (34) in both sides up and down, gripping telescopic drive arm (34) right side is provided with gripper (35), gripper (35) stablizes slide block (36) by gripping and gripping telescopic drive arm (34) links together.
2. rotary machine hand according to claim 1, is characterized in that: described movable deck (4) upside is provided with antiskid glue cushion (37).
3. rotary machine hand according to claim 1, is characterized in that: the spacing adjusting bracket of described gripping (30) front side is provided with distance indicator graduation lines (38).
4. rotary machine hand according to claim 1, is characterized in that: described gripper (35) inboard is provided with gripping pressure sensor (39).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521114210.XU CN205219154U (en) | 2015-12-29 | 2015-12-29 | Rotary mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521114210.XU CN205219154U (en) | 2015-12-29 | 2015-12-29 | Rotary mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205219154U true CN205219154U (en) | 2016-05-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521114210.XU Expired - Fee Related CN205219154U (en) | 2015-12-29 | 2015-12-29 | Rotary mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205219154U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106048915A (en) * | 2016-08-09 | 2016-10-26 | 厦门市宏迪机电设备有限公司 | Rotating and turning structure of elastic ribbon sewing machine |
| CN106081869A (en) * | 2016-07-26 | 2016-11-09 | 浙江川洋家居股份有限公司 | A kind of sponge cutting machine Handling device |
| CN106370827A (en) * | 2016-11-18 | 2017-02-01 | 安徽理工大学 | Device for detecting integrity of hollow brick |
| CN107940948A (en) * | 2017-11-15 | 2018-04-20 | 国网山东省电力公司电力科学研究院 | A kind of cable drying machine and drying means |
| CN107957167A (en) * | 2017-11-15 | 2018-04-24 | 国网山东省电力公司电力科学研究院 | A kind of drier being applied in cable drying machine |
| CN108357916A (en) * | 2018-03-26 | 2018-08-03 | 韩忠彬 | Waste transfer device in a kind of medical experiment |
| CN109454328A (en) * | 2018-10-12 | 2019-03-12 | 江苏科技大学 | Laser welding incidence angle real-time monitoring system and welding method based on temperature feedback |
-
2015
- 2015-12-29 CN CN201521114210.XU patent/CN205219154U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106081869A (en) * | 2016-07-26 | 2016-11-09 | 浙江川洋家居股份有限公司 | A kind of sponge cutting machine Handling device |
| CN106048915A (en) * | 2016-08-09 | 2016-10-26 | 厦门市宏迪机电设备有限公司 | Rotating and turning structure of elastic ribbon sewing machine |
| CN106370827A (en) * | 2016-11-18 | 2017-02-01 | 安徽理工大学 | Device for detecting integrity of hollow brick |
| CN106370827B (en) * | 2016-11-18 | 2018-08-24 | 安徽理工大学 | A kind of detection hollow brick integrity degree device |
| CN107940948A (en) * | 2017-11-15 | 2018-04-20 | 国网山东省电力公司电力科学研究院 | A kind of cable drying machine and drying means |
| CN107957167A (en) * | 2017-11-15 | 2018-04-24 | 国网山东省电力公司电力科学研究院 | A kind of drier being applied in cable drying machine |
| CN108357916A (en) * | 2018-03-26 | 2018-08-03 | 韩忠彬 | Waste transfer device in a kind of medical experiment |
| CN109454328A (en) * | 2018-10-12 | 2019-03-12 | 江苏科技大学 | Laser welding incidence angle real-time monitoring system and welding method based on temperature feedback |
| CN109454328B (en) * | 2018-10-12 | 2021-06-01 | 江苏科技大学 | Real-time control system and welding method of laser welding incident angle based on temperature feedback |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160511 Termination date: 20161229 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |