CN102642206A - Joint type manipulator - Google Patents
Joint type manipulator Download PDFInfo
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- CN102642206A CN102642206A CN2012101507245A CN201210150724A CN102642206A CN 102642206 A CN102642206 A CN 102642206A CN 2012101507245 A CN2012101507245 A CN 2012101507245A CN 201210150724 A CN201210150724 A CN 201210150724A CN 102642206 A CN102642206 A CN 102642206A
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- 238000004088 simulation Methods 0.000 description 1
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Abstract
The invention discloses a joint type manipulator. The joint type mechanical manipulator comprises a tensioning fixed component, a plurality of connecting pieces and a fixed support which are sequentially connected with one another through springs and steel wires, wherein the tensioning fixed component comprises a tensioning part and a fixed part which are connected with each other, the tensioning and releasing of the steel wires among the tensioning fixed component, the connecting pieces and the fixed support are adjusted by adjusting the relative position of the tensioning part and the fixed part, each connecting piece comprises a first end surface, a second end surface, and a middle part for connecting the first end surface with the second end surface, a plurality of projections and grooves which are matched with each other in an embedded way, an through holes through which the springs can pass are respectively formed on the first end surface and the second end surface, the fixed support is provided with a first support connected with the connecting pieces, and other ends of the springs and the steel wires are fixed on the first support. The extension position and length of the manipulator can be freely adjusted, and the flexibility and universality of the manipulator are improved.
Description
Technical field
The present invention relates to mechanical finger, relate in particular to a kind of can the multi-angle FREE TORSION and the multi-functional joint type mechanical finger of extension.
Background technology
In recent years; Along with the progress of science and technology and the continuous expansion of automated production scale; Manipulator has obtained using widely in such as various fields such as household electrical appliances production, automobile making and health care, military affairs; These manipulators all be function through the simulation staff to accomplish the actions such as extracting of product, the angle of right manipulator adjustment of the prior art generally can only be carried out the adjustment of X, Y, three directions of Z.
The patent No. shown in figure 10 is 200810030084.8, and name is called the device that is disclosed in the Chinese patent of " a kind of full-automatic multifunctional mechanical arm ", and it comprises chamfering group 91; Chamfering group fixed block 92, cylinder 93, cylinder contiguous block 94; Tool section bar 95, tool fixed block 96, L shaped contiguous block 99; And be fixedly connected on the sucker 97 on tool section bar 95 and the tool fixed block 96 and embrace tool 98; Chamfering group 91 can be carried out the rotation of 90-180 degree with respect to tool section bar 95, and realizing the extracting to the product multi-angle, right such manipulator still can not be neatly carries out FREE TORSION or bending according to the shape facility of waiting to grasp product etc.; Especially for product in irregular shape like the product with irregular arc surface or the product of other types, this manipulator is difficult to effectively grasp.
On the other hand; In the prior art; Be used to grasp or draw the manipulator of waiting to grasp product and generally all be and carry out custom-designedly according to shape, material and the weight of waiting to grasp product, it is not suitable for the extracting of the product of other types, has therefore reduced the versatility of manipulator.
Summary of the invention
The objective of the invention is to overcome the defective of prior art, provide a kind of and can freely adjust extended position joint type mechanical finger,, improve the flexibility and the versatility of mechanical finger to do different assemblings and adjustment according to the difformity of product.
For realizing above-mentioned purpose, the present invention proposes following technical scheme: a kind of joint type mechanical finger, comprise be strained and fixed assembly and the fixed support that are connected through elastic stretching spare, wherein:
The said assembly that is strained and fixed comprises interconnective tension part and fixture, adjusts elastic stretching spare at the said assembly that is strained and fixed through the relative position of adjustment tension part and fixture, the tension between connector and fixed support and loosening;
Said fixed support has first support that is connected with said connector, and the other end of said elastic stretching spare is fixed on said first support.
Further, said joint type mechanical finger also comprises at least one connector, and said connector comprises first end face and second end face, connects the pars intermedia of first end face and second end face, and the through hole that supplies said elastic stretching spare to pass.
Said elastic stretching spare comprises spring and the steel wire of being located in the spring.
Said tension part comprises tightening nut and tensioned screw, and said tightening nut screws to be located on the tensioned screw.
State fixture and comprise fixed part; From threaded portion that fixed part extends to form respectively to both sides be connected the end; And the accepting hole that runs through the ccontaining said elastic stretching spare of fixture formation, said tension part partly stretches into the inboard accepting hole in said threaded portion and fastens through snap-in structure and threaded portion.
Said elastic stretching spare comprises spring and the steel wire of being located in the spring; Said spring passes the accepting hole of said fixture and is fixed in the accepting hole; Said elastic stretching spare passes the accepting hole of said fixture and the locating hole in the tensioned screw; And through the rotation of tightening nut on tensioned screw, drive tensioned screw in said threaded portion shift-in and shift out, and then make steel wire be tightened up or loosen.
Be formed with the arc supporting surface of ccontaining said elastic stretching spare on the pars intermedia of said connector, said arc supporting surface connects with said through hole and is connected.
Form the angle of 90 degree between first end face of said connector and second end face, the outside of first end face and second end face is formed with plural number and embeds convexity and the groove that cooperates mutually.
Said fixed support also comprises second support that is fixedly connected with first support, and said second support is provided with plural fixing hole.
Said joint type mechanical finger also comprises the cylinder that is connected with said second support, and is located at cylinder terminal sucker or anchor clamps.
A be strained and fixed end of assembly of said mechanical finger is fixedly connected on the fixed head of mechanical finger.
Compared with prior art; The joint type mechanical finger that the present invention discloses has the advantage of angle, position and the length that can freely adjust its extension; It can be common to the extracting of multiple product, and can carry out freely setting according to the architectural feature of product and grasp or armful tool, sucker and other anchor clamps, and grasps product more neatly; And this robot manipulator structure is compact, easy for installation, regulate quick, general.
Description of drawings
Fig. 1 is the schematic perspective view of the preferred embodiment of the present invention;
Fig. 2 is the perspective exploded view of Fig. 1;
Fig. 3 is the schematic perspective view of tensioned screw in the preferred embodiment of the present invention;
Fig. 4 A, Fig. 4 B are the schematic perspective views of fixture different angles in the preferred embodiment of the present invention;
Fig. 5 A, Fig. 5 B are the schematic perspective views of connector different angles in the preferred embodiment of the present invention;
Fig. 6 is a support bracket fastened schematic perspective view in the preferred embodiment of the present invention;
Fig. 7 is the schematic perspective view of cylinder in the preferred embodiment of the present invention;
Fig. 8 is that the joint type mechanical finger is assemblied in the schematic perspective view on the manipulator fixed head in the preferred embodiment of the present invention;
Fig. 9 is the schematic perspective view of second embodiment of the invention;
Figure 10 is the schematic perspective view of existing mechanical arm.
Element numbers among the figure
Steel wire 7 fixed heads 8 through hole H
Locating slot 114
122 connection ends 123, fixed part 121 threaded portions
Accepting hole 124 positioning keys 125 step surfaces 126
The 3rd end face 127
Pars intermedia 21 first end faces 22 second end faces 23
Protruding 24,34 grooves, 25 through holes 26
Recess 27 reinforcements 28
Connector 2 ' the 4th end face 21 ' the five terminal faces 22 '
First support, 31 second supports 32 the 6th end face 33
Bellmouth 35 peripheries 36
Fixing hole 37 snap ring inner rings 38
First passage, 41 second passages, 42 first nuts 43
Second nut, 44 anchor clamps 5 '
The specific embodiment
To combine accompanying drawing of the present invention below, the technical scheme of the embodiment of the invention will be carried out clear, complete description.
Show in conjunction with Fig. 1, Fig. 2, the joint type mechanical finger that is disclosed in the preferred embodiment of the present invention, it comprises the assembly 1 that is strained and fixed that is connected successively; Plural number connector 2, fixed support 3, and the cylinder 4 that is connected with fixed support; The end of said cylinder is provided with sucker 5, the said assembly 1 that is strained and fixed, connector 2; 3 of fixed supports are connected with steel wires 7 in being located at spring 6 through spring 6, and the joint type mechanical finger is fixedly connected on the manipulator fixed head 8 through the assembly 1 that is strained and fixed.
In conjunction with Fig. 3; Shown in Fig. 4 A, the 4B; The said assembly 1 that is strained and fixed comprises tension part 11 and fixture 12; Tension part 11 in the present embodiment comprises tightening nut 111 and the tensioned screw 112 that matches with tightening nut 111, is provided with the locating hole 113 that supplies steel wire 7 to pass in the said tensioned screw 112, and the outer surface of tensioned screw 112 is provided with locating slot 114.
Said fixture 12 comprises fixed part 121; From threaded portion 122 and the connection end 123 that fixed part 121 extends to form to two ends respectively; Said fixture 12 connects said threaded portion 122, fixed part 121 and connects end 123 and is provided with accepting hole 124, and accepting hole 124 backs that said spring 6 passes said threaded portion 122 are fixed in the accepting hole 124 of fixed part 121 through a screw (as being loaded on the through hole H place among the figure) or other Fasteners (scheming not show).Said tensioned screw 112 parts are inserted in the accepting hole 124 of said threaded portion 122; And corresponding said locating slot 114 is provided with positioning key 125 in the accepting hole 124 of threaded portion 122; Positioning key 125 stretches in the locating slot 114 to limit the mutual rotation of 12 of tensioned screw 112 and fixtures; After said steel wire 7 passes the locating hole 113 of accepting hole 124 and tensioned screw 112, make it be fastened on the end of locating hole 113 through after the end portion treatment to steel wire 7.
Be formed with the step surface 126 of outer-hexagonal on the said fixed part 121; Be used for the manipulator fixed head on hex hole locate cooperation mutually; Connect end 123 from fixed part 121 to forming with threaded portion 122 relative other end bendings; Matching with said connector 2 and be connected in connection end 123, connects end 123 and have the end face (being defined as the 3rd end face 127) that cooperates with connector 2 appropriate sections.
Shown in Fig. 5 A, 5B; Said each connector 2 has both ends of the surface and the pars intermedia that is connected both ends of the surface 21; Said both ends of the surface are defined as first end face 22, second end face 23 respectively, and said first end face 22 and second end face 23 are rounded and be symmetrical set, and extend the angle that the back forms 90 degree therebetween.Wherein first end face 22 is provided with plural groove 25, the second end faces 23 and is provided with plural convexity 24, and this plural number protruding 24 is used for embedding cooperation so that each connector 2 tightens each other mutually with the groove 25 and protruding 24 of another connector end face that joins with groove 25.The center of first end face 22 and second end face 23 also is provided with ammunition feed spring 6 and runs through the through hole 26 that passes through; Also be provided with the recess 27 that is connected and is used for ccontaining said spring 6 with through hole 26 on the said pars intermedia 21; Said recess 27 is the arcwall face of evagination, and the slip that is arranged so that connector spring 6 when rotating each other of arcwall face is more smooth and easy.Further, the both sides of said recess 27 also are provided with reinforcement 28, and this reinforcement 28 also plays qualification to the position of spring 6.
2 snap-in structures through spring 6, steel wire 7 and end face of said each connector (being convexity and groove) form relatively-stationary the connection, and the quantity of connector 2 can increase or reduce according to concrete needs.
Also comprise in the present embodiment end coupling 2 that joins with fixed support 3 '; End coupling 2 ' structure roughly be equivalent to the half the of connector 2 structures; It comprises the 4th end face 21 ' with five terminal face 22 '; The angle of both ends of the surface also is half the (i.e. 45 degree) of other connector 2 both ends of the surface angles substantially, the end coupling 2 of this structure ' and, make it convenient with being connected of support bracket fastened corresponding end-faces.
In conjunction with shown in Figure 6; Said fixed support 3 comprises first support 31 and second support 32; Said first support 31 and end coupling 2 ' the 4th end face 21 ' be connected, first support 31 is cylindric, its with end coupling 2 ' the end face (being defined as the 6th end face 33) of the 4th end face 21 ' be connected on also be formed with plural number and protruding 34 (or grooves); The center of the cylinder end face of first support 31 is formed with the bellmouth 35 of perforation; This bellmouth 35 is used for fixing spring 6, and the direction towards second support 32 is the taper seat that amplifies gradually to bellmouth 35 from cylindrical end, after spring 6 passes this bellmouth 35 together with steel wire 7; The end of spring 6 and steel wire 7 is fastened in the bellmouth 35 after doing and enlarging processing (like modes such as bending, knottings).
Said second support 32 stretches out from first support 31 and is the snap ring shape; Be formed with plural fixing hole 37 on the periphery 36 of said snap ring and be used for the dress that other accessories such as anchor clamps or peace are embraced tool; Said cylinder 4 is outer tooth cylinder, and is as shown in Figure 7, and it is arranged in the snap ring inner ring 38 of second support 32; First passage 41 that cylinder 4 is provided with and the tracheae of blowing joins and second passage 42 that joins with vacuum; Through the air blowing of first passage 41, cylinder 4 is moved forward and then drive the terminal sucker 5 of cylinder to move forward, in addition; Because cylinder 4 is to be fixedly connected on the snap ring inner ring 38 of said second support 32 through first nut 43 and second nut 44, therefore also can be through unclamping the length that first nut 43 and second nut 44 are regulated the cylinder external part.Said sucker 5 is located at the end of cylinder, is used to adsorb product to be grasped.
During assembling; Steel wire 7 is through in the spring 6; And spring 6 passed the bellmouth 35 of fixed support 3, the through hole 26 of plural connector 2, and the accepting hole 124 of fixture 12 successively together with steel wire 7; And after making steel wire 7 further pass the locating hole 113 in the tensioned screw 112, make the two ends of spring 6 and steel wire 7 be arranged in the corresponding position.Then; Make in said first end face, 22 to the 6th end faces 33 and engage in the embedding of the convexity on the adjacent both ends face respective slot; And nut 13 will be installed, tensioned screw 112 is inserted on the threaded portion 122 of fixture 12; Make that locating slot 114 matches on threaded portion 122 inboard positioning key 125 and the tensioned screw 112, and tightening nut 111 screwed on the tensioned screws 112 get final product.
During use; One end of the assembly 1 that is strained and fixed of joint type mechanical finger of the present invention is fixedly connected on the fixed head 8 of mechanical finger; As shown in Figure 8, each mechanical finger can be realized the activity adjusting that similar people's swivel of hand is the same through connector, and grasps product through terminal sucker or anchor clamps.Simultaneously, can a plurality of manipulators be installed on fixed head cooperate extracting according to actual needs.
And when grasping different product, can carry out rotation adjusting or displacement adjusting at any angle to mechanical finger of the present invention as required.During adjusting, tightening nut 111 is outwards outwarded winding from tensioned screw 112, then tensioned screw 112 drive steel wires 7 move to the direction of connector 2; Make that steel wire 7 is loosened, at this moment, the convexity 24 of the connector end face of needs adjustment is moved from the groove 25 of adjacent end face; And choose after the snapped-in position that needs again to insert in the groove 25 of adjacent end face and engage protruding 24; Adopting uses the same method can regulate the link position of adjacent end face, after adjusting puts in place, again with tightening nut 111 precession on tensioned screw 112; Tensioned screw 112 drives steel wire 7 and outwards moves; Thereby the steel wire that the assembly 1 that will be strained and fixed, each connector 2 and fixed support are 37 tensions make the position of each inter-module be locked relatively, thereby realize the extracting to the product of different structure shape.
In addition; Also can be in the present embodiment through the realization that moves forward and backward of the cylinder 4 that links to each other with fixed support 3 to the adjustment of mechanical finger crawl position; Promptly adjust cylinder 4 and blow to cylinder, make cylinder drive the terminal sucker of cylinder and move forward in the fixed position on the fixed support 3 or through first passage 41 on the cylinder 4.
Shown in Figure 9 is the schematic perspective view of another embodiment of the present invention, and this embodiment and preferred embodiment are basic identical, its difference be fixed support terminal through the second cylinder jockey 5 ', to realize gripping to product.
Joint type mechanical finger of the present invention can adopt metal, nylon or harder materials such as plastics to process.
In other embodiments of the invention; The tightening nut of tension part and tensioned screw can be the structures that similarly has external screw thread or internal thread; As long as it cooperates with fixture to regulate steel wire is strained or loosened, spring and steel wire also can be substituted by other tensioning members; Between said connector first end face and second end face angle can for other angle like 60 degree etc., the shape of connector also is not limited to the shape in the preferred embodiment, can also be triangle, shape such as trapezoidal; And first end face of connector and the convexity on second end face and groove also can be replaced by the structure of other identical functions, as the through hole on first end face and second end face being provided with the polygonal hole that mutual embedding cooperates.In addition.Connector can directly be connected with fixed support (not needing the end coupling in the preferred embodiment), and support bracket fastened end can directly connect the tool of the product of extractings such as sucker or other armfuls tool, gold utensil according to actual needs.
Technology contents of the present invention and technical characterictic have disclosed as above; Yet those of ordinary skill in the art still maybe be based on teaching of the present invention and announcements and are done all replacement and modifications that does not deviate from spirit of the present invention; Therefore; Protection domain of the present invention should be not limited to the content that embodiment discloses, and should comprise various do not deviate from replacement of the present invention and modifications, and is contained by the present patent application claim.
Claims (10)
1. joint type mechanical finger is characterized in that: comprise be strained and fixed assembly and the fixed support that are connected through elastic stretching spare, wherein:
The said assembly that is strained and fixed comprises interconnective tension part and fixture, adjusts elastic stretching spare at the said assembly that is strained and fixed through the relative position of adjustment tension part and fixture, the tension between connector and fixed support and loosening;
Said fixed support has first support that is connected with said connector, and the other end of said elastic stretching spare is fixed on said first support.
2. joint type mechanical finger according to claim 1; It is characterized in that: said joint type mechanical finger also comprises at least one connector; Said connector comprises first end face and second end face; The pars intermedia that connects first end face and second end face, and the through hole that supplies said elastic stretching spare to pass.
3. joint type mechanical finger according to claim 1 is characterized in that: said elastic stretching spare comprises spring and the steel wire of being located in the spring.
4. joint type mechanical finger according to claim 1 is characterized in that: said tension part comprises tightening nut and tensioned screw, and said tightening nut screws to be located on the tensioned screw.
5. joint type mechanical finger according to claim 4; It is characterized in that: said fixture comprises fixed part; From threaded portion that fixed part extends to form respectively to both sides be connected the end; And the accepting hole that runs through the ccontaining said elastic stretching spare of fixture formation, said tension part partly stretches into the inboard accepting hole in said threaded portion and fastens through snap-in structure and threaded portion.
6. joint type mechanical finger according to claim 5; It is characterized in that: said elastic stretching spare comprises spring and the steel wire of being located in the spring; Said spring passes the accepting hole of said fixture and is fixed in the accepting hole, and said elastic stretching spare passes the accepting hole of said fixture and the locating hole in the tensioned screw, and through the rotation of tightening nut on tensioned screw; Drive tensioned screw in said threaded portion shift-in and shift out, and then make steel wire be tightened up or loosen.
7. joint type mechanical finger according to claim 1 is characterized in that: be formed with the arc supporting surface of ccontaining said elastic stretching spare on the pars intermedia of said connector, said arc supporting surface connects with said through hole and is connected.
8. joint type mechanical finger according to claim 2 is characterized in that: form the angle of 90 degree between first end face of said connector and second end face, the outside of first end face and second end face is formed with plural number and embeds convexity and the groove that cooperates mutually.
9. according to any described joint type mechanical finger of claim 1 to 8, it is characterized in that: said fixed support also comprises second support that is fixedly connected with first support, and said second support is provided with plural fixing hole.
10. joint type mechanical finger according to claim 9 is characterized in that: said joint type mechanical finger also comprises the cylinder that is connected with said second support, and is located at cylinder terminal sucker or anchor clamps.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210150724.5A CN102642206B (en) | 2012-05-16 | 2012-05-16 | Joint type manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210150724.5A CN102642206B (en) | 2012-05-16 | 2012-05-16 | Joint type manipulator |
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| CN102642206A true CN102642206A (en) | 2012-08-22 |
| CN102642206B CN102642206B (en) | 2015-01-07 |
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| CN201210150724.5A Active CN102642206B (en) | 2012-05-16 | 2012-05-16 | Joint type manipulator |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104985607A (en) * | 2015-08-10 | 2015-10-21 | 苏州驱指自动化科技有限公司 | Chute finger |
| CN104999456A (en) * | 2015-08-10 | 2015-10-28 | 苏州驱指自动化科技有限公司 | Fixing palm for mechanical fingers |
| CN104999460A (en) * | 2015-08-10 | 2015-10-28 | 苏州驱指自动化科技有限公司 | Joint type mechanical finger |
| CN104999455A (en) * | 2015-08-10 | 2015-10-28 | 苏州驱指自动化科技有限公司 | Tensioning assembly for mechanical fingers |
| CN105058425A (en) * | 2015-08-10 | 2015-11-18 | 苏州驱指自动化科技有限公司 | Conversion component of finger connecting pieces |
| CN105058405A (en) * | 2015-08-10 | 2015-11-18 | 苏州驱指自动化科技有限公司 | Joint type mechanical finger |
| CN106217403A (en) * | 2016-09-18 | 2016-12-14 | 苏州驱指自动化科技有限公司 | Tensioned screw external member |
| CN106564067A (en) * | 2016-09-13 | 2017-04-19 | 苏州驱指自动化科技有限公司 | Adjusting hardware fitting support |
| CN107398700A (en) * | 2017-08-01 | 2017-11-28 | 安徽信陆电子科技有限公司 | A kind of automatic attaching/detaching apparatus and automatic assembly and disassembly methods |
| CN112894863A (en) * | 2021-03-25 | 2021-06-04 | 泰州市政锋注塑有限公司 | Manipulator holding and sucking integrated device |
Families Citing this family (1)
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| TWI551493B (en) * | 2015-02-11 | 2016-10-01 | Applies to the chuck clamp fixing stroller |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104985607A (en) * | 2015-08-10 | 2015-10-21 | 苏州驱指自动化科技有限公司 | Chute finger |
| CN104999456A (en) * | 2015-08-10 | 2015-10-28 | 苏州驱指自动化科技有限公司 | Fixing palm for mechanical fingers |
| CN104999460A (en) * | 2015-08-10 | 2015-10-28 | 苏州驱指自动化科技有限公司 | Joint type mechanical finger |
| CN104999455A (en) * | 2015-08-10 | 2015-10-28 | 苏州驱指自动化科技有限公司 | Tensioning assembly for mechanical fingers |
| CN105058425A (en) * | 2015-08-10 | 2015-11-18 | 苏州驱指自动化科技有限公司 | Conversion component of finger connecting pieces |
| CN105058405A (en) * | 2015-08-10 | 2015-11-18 | 苏州驱指自动化科技有限公司 | Joint type mechanical finger |
| CN106564067A (en) * | 2016-09-13 | 2017-04-19 | 苏州驱指自动化科技有限公司 | Adjusting hardware fitting support |
| CN106217403A (en) * | 2016-09-18 | 2016-12-14 | 苏州驱指自动化科技有限公司 | Tensioned screw external member |
| CN107398700A (en) * | 2017-08-01 | 2017-11-28 | 安徽信陆电子科技有限公司 | A kind of automatic attaching/detaching apparatus and automatic assembly and disassembly methods |
| CN107398700B (en) * | 2017-08-01 | 2024-02-02 | 安徽信陆电子科技有限公司 | Automatic dismounting device automatic dismounting method |
| CN112894863A (en) * | 2021-03-25 | 2021-06-04 | 泰州市政锋注塑有限公司 | Manipulator holding and sucking integrated device |
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| Publication number | Publication date |
|---|---|
| CN102642206B (en) | 2015-01-07 |
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Effective date of registration: 20211025 Address after: 215100 room 103, No. 125, zhenzhuhu Road, Weitang Town, Xiangcheng District, Suzhou City, Jiangsu Province Patentee after: Suzhou Weizhong Technology Development Co.,Ltd. Address before: 215100 2603, building 85, zone 6, feicuijiayuan, Weizhong Road, Weitang Town, Xiangcheng District, Suzhou City, Jiangsu Province Patentee before: Hua Yingbin |