CN103317517A - Detachable antiskid mechanism of manipulator - Google Patents
Detachable antiskid mechanism of manipulator Download PDFInfo
- Publication number
- CN103317517A CN103317517A CN2013102496350A CN201310249635A CN103317517A CN 103317517 A CN103317517 A CN 103317517A CN 2013102496350 A CN2013102496350 A CN 2013102496350A CN 201310249635 A CN201310249635 A CN 201310249635A CN 103317517 A CN103317517 A CN 103317517A
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- clamping
- control lever
- manipulator
- skidding
- voussoir
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Abstract
The invention relates to a detachable antiskid mechanism of a manipulator. The manipulator comprises a clamping mechanism body, clamping arms, antiskid blocks and bolts. A control mechanism used for controlling the clamping ends of the two clamping arms to conduct clamping or loosening is arranged in the clamping mechanism body, the clamping arms are provided with the clamping ends used for clamping a clamped object, screw holes are formed in the clamping ends, bolt installation holes are formed in the antiskid blocks, the bolts penetrate the bolt installation holes and the screw holes to be assembled to fixedly connect the antiskid blocks and the clamping ends, and antiskid protruding grains are arranged on the end faces of the antiskid blocks in contact with the clamped object. The antiskid structure is replaceable. In a use process of the manipulator, a user can directly replace the antiskid blocks once the user finds that the antiskid structure of the manipulator is abraded or damaged.
Description
Technical field
The present invention relates to a kind of detachable anti-slipping mechanism of manipulator.
Background technology
Be used for to reproduce staff the technique device of function be called manipulator.Manipulator is the part action of imitating staff, realizes the robot apparatus of automatic capturing, carrying or operation by preset sequence, track and requirement.The manipulator of using in industrial production is called as industry mechanical arm.Industry mechanical arm is a new technology that occurs in the automation field in modern age, and has become an important component part in the modern mechanical manufacturing production system, and this development of new techniques is very fast, becomes gradually an emerging subject---manipulator engineering.Manipulator relates to the scientific domains such as mechanics, mechanics, electrical equipment hydraulic technique, automatic control technology, sensor technology and computer technology, is a transsubject complex technology.
Industry mechanical arm is a kind of high-tech automatic producing device that grows up nearly decades.Industry mechanical arm also is an important branch of industrial robot.His characteristics are to finish by programming the operation of various expections, have people and machine advantage separately concurrently at structure and performance, especially are embodied in people's intelligence and adaptability.The ability that fulfils assignment in the accuracy of manipulator operation and the environment has widely development space in the national economy field.
The development of manipulator is because its positive role just is familiar with for people day by day: one, it can be partly the replacement manually-operated; Two, it can according to the requirement of production technology, follow transmission and the loading and unloading of finishing workpiece in certain program, time and position; Three, it can operate necessary facility and welds and assemble, thereby has improved greatly workman's working condition, has improved significantly labor productivity, accelerates to realize the paces of industrial production mechanization and automation.Thereby, be subject to the attention of a lot of countries, drop into a large amount of manpower and materials and study and use.Especially at high temperature, high pressure, dust, noise and with the occasion of radioactivity and pollution, application more extensive.In China faster development was arranged also in recent years, and obtained certain effect, be subject to the attention of mechanical industry.
Manipulator is a kind of control object that often runs in the field of industrial automatic control.Manipulator can be finished many work, as removes thing, assembling, cutting, spray-painting etc., uses very extensive.In modern industry, the automation in the production process has become outstanding theme.The automatization level of all trades and professions is more and more higher, and modernized job shop often is furnished with manipulator, to enhance productivity, finishes that the workman is difficult to finish or dangerous work.Clamping device is one of most important part of manipulator, by clamping device, and the operation that manipulator could grasp and move firmly, accurately.The mechanical gripper of manipulator mostly is two clutch types that refer to, the motion mode of grabbing by its hand can be divided into translating type and rotary type.The rotary type hand has been grabbed and can be divided into single fulcrum and two fulcrum rotary type, can be divided into external clamping and inner bearing type by method of clamping.But, in the existing clamping device, accurate not for the control of clamping framework bare terminal end.And bare terminal end the situation that gripped object comes off often occurs when clamping gripped object.
Summary of the invention
Technical problem to be solved by this invention provides a kind of detachable anti-slipping mechanism of manipulator, and this structure can increase the frictional force between mechanical hand bare terminal end and the gripped object, preferably resolves gripped object and holds caducous problem; And this anti-skid structure can be changed, and in the manipulator use procedure, the anti-skid structure of finding manipulator has wearing and tearing or damages, and directly changes anti-skiddingly to get final product soon.
The present invention solves the problems of the technologies described above the technical scheme that adopts: the detachable anti-slipping mechanism of manipulator, comprise the clamping device body, clamping arm, anti-skidding fast, bolt, have the bare terminal end clamping of two clamping arms of control or the controlling organization that unclamps in the clamping device body, described clamping arm has for the bare terminal end that clamps gripped object, be provided with screw on the end of bare terminal end, anti-skidding have bolt mounting holes on fast, bolt passes bolt mounting holes and is fixedly connected with bare terminal end soon anti-skidding with the screw assembling, and the anti-skidding end face that contacts with gripped object soon is provided with anti-skidding burr.In this programme, the bare terminal end clamping of two clamping arms of control or the controlling organization that unclamps adopt prior art to realize, the end face that anti-skidding burr bare terminal end contacts with gripped object is set to concavo-convex alternate structure and gets final product, it can be the concavo-convex alternate shape of rule, such as waveform, zigzag etc., also can be various irregular shapes; The anti-skid structure of this programme can be changed, and in the manipulator use procedure, the anti-skid structure of finding manipulator has wearing and tearing or damages, and directly changes anti-skiddingly to get final product soon.If the end face at bare terminal end directly arranges anti-skidding burr, also can play the effect that increases frictional force between bare terminal end and the gripped object, but bare terminal end need to connect whole adding and hold arm and change together in the time of need to changing or safeguard, inconvenient operation and the cost that has increased replacing and safeguarded, this programme then be installed additional in the position of bare terminal end one anti-skidding fast, safeguard and change conveniently, only need to change and anti-skiddingly gets final product soon.
Particularly, described bolt mounting holes is positioned at anti-skidding fast central part, and anti-skidding burr is distributed in the periphery of bolt mounting holes.
The position indent of described bolt mounting holes consists of the bolt installation region, and bolt passes bolt mounting holes and assembles the height that the anti-skidding fast height that is fixedly connected with rear bolt surface with bare terminal end is no more than anti-skidding burr with screw.
Described controlling organization comprises control lever, voussoir, rotation roller, rotation roller is installed in the clamping device body interior and can rotates along installation shaft, also be provided with through hole in the clamping device body, control lever one end passes through hole and is fixedly connected with voussoir, the other end is connected with driving mechanism, driving mechanism by the inclined-plane that drives control lever and move the control voussoir away from rotation roller or near and hold rotation roller and consist of controlling organization, clamping arm one end is fixedly connected with rotation roller, and the other end of clamping arm consists of bare terminal end.
Have the limited block that protrude to consist of on the outer wall of described control lever, limited block is between through hole and driving mechanism, and limited block overlaps with the central shaft of through hole, and the end face of limited block outermost end to the control lever central shaft apart from the radius length of length greater than through hole.
Described limited block is the circular ring structure that radially protrudes along on the outer wall of control lever, perhaps is that several are along radially protruding and equally distributed projection on the outer wall of control lever.
The cross section of described voussoir is isosceles trapezoid, and control lever one end passes through hole and is fixedly connected with the end face at the place of going to the bottom in the cross section of voussoir; Described rotation roller, clamping arm are respectively 2 and be symmetricly set on the voussoir two ends.
The angle that consists of between the waist of described isosceles trapezoid and the height of isosceles trapezoid is 18 °.As expansion, the angle that consists of between the waist of isosceles trapezoid and the height of isosceles trapezoid is 10 °-30 ° can both implement this programme preferably.
Be provided with elastic mechanism between described two clamping arms.Particularly, described elastic mechanism is spring or spring leaf.
The invention has the beneficial effects as follows:
1, the anti-skid structure of this programme can be changed, and in the manipulator use procedure, the anti-skid structure of finding manipulator has wearing and tearing or damages, and directly changes anti-skiddingly to get final product soon.If the end face at bare terminal end directly arranges anti-skidding burr, also can play the effect that increases frictional force between bare terminal end and the gripped object, but bare terminal end need to connect whole adding and hold arm and change together in the time of need to changing or safeguard, inconvenient operation and the cost that has increased replacing and safeguarded, this programme then be installed additional in the position of bare terminal end one anti-skidding fast, safeguard and change conveniently, only need to change and anti-skiddingly gets final product soon.
2, the present invention is long in order to prevent that driving mechanism from driving the distance that control lever advances, outer wall at control lever has the limited block that protrudes formation, when control lever advance to certain apart from the time, limited block will be stuck in the position of through hole, so that control lever can not move on, more accurate to the control of clamping framework bare terminal end.
Description of drawings
Fig. 1 is structural representation of the present invention.
Parts title corresponding to number in the figure is: 1-clamping device body, 2-control lever, 3-limited block, 4-voussoir, 5-rotation roller, 6-clamping arm, 7-fastening bolt, 8-elastic mechanism, the anti-skidding burr of 9-, 10-non-slipping block.
The specific embodiment
As shown in Figure 1, the detachable anti-slipping mechanism of the manipulator of the present embodiment comprises clamping device body 1, control lever 2, limited block 3, voussoir 4, rotation roller 5, clamping arm 6, bolt, anti-skidding fast 10, rotation roller 5 is installed in clamping device body 1 inside and can rotates along installation shaft, also be provided with through hole in the clamping device body 1, control lever 2 one ends pass through hole and are fixedly connected with voussoir 4, the other end is connected with driving mechanism, the inclined-plane that driving mechanism consists of control voussoir 4 away from rotation roller 5 or near and hold the controlling organization of rotation roller 5, and have on the outer wall of control lever and protrude the limited block 3 that consists of, clamping arm 6 one ends are fixedly connected with rotation roller 5, the other end of clamping arm 6 consists of bare terminal end, be provided with screw on the end of bare terminal end, has bolt mounting holes on anti-skidding fast 10, bolt passes bolt mounting holes and is fixedly connected with bare terminal end anti-skidding fast 10 with the screw assembling, and anti-skidding fast 10 end faces that contact with gripped object are provided with anti-skidding burr 9; Bolt mounting holes is positioned at anti-skidding fast 10 central part, anti-skidding burr 9 is distributed in the periphery of bolt mounting holes, and the position indent of bolt mounting holes consists of the bolt installation region, and bolt passes bolt mounting holes and screw and assembles the height that anti-skidding fast 10 height that are fixedly connected with rear bolt surface with bare terminal end is no more than anti-skidding burr 9.The anti-skidding end face that contacts with gripped object soon of anti-skidding burr is set to concavo-convex alternate structure and gets final product, and can be the concavo-convex alternate shape of rule, such as waveform, zigzag etc., also can be various irregular shapes.
In the present embodiment, the cross section of described voussoir 4 is isosceles trapezoid, and control lever 2 one ends pass through hole and are fixedly connected with the end face at the place of going to the bottom in the cross section of voussoir 4; Rotation roller 5, clamping arm 6 are respectively 2 and be symmetricly set on voussoir 4 two ends, from sectional view, rotation roller 5, clamping arm 6 are symmetricly set on the both sides of isosceles trapezoid, are provided with elastic mechanism 8 between two clamping arms 6, and elastic mechanism 8 is spring or spring leaf.Described limited block 3 is the circular ring structure that radially protrudes along on the outer wall of control lever, perhaps is that several are along radially protruding and equally distributed projection on the outer wall of control lever.Described limited block 3 overlaps with the central shaft of through hole, and the end face of limited block 3 outermost end to the control lever central shaft apart from the radius length of length greater than through hole.The angle that consists of between the waist of described isosceles trapezoid and the height of isosceles trapezoid (being to indicate the angle shown in the camber line of angle among Fig. 1) is 10 °-30 °, is preferably 18 °.Test finds, when angle is 18 °, when driving mechanism drives control lever and advances, the most easily drives rotation roller 5 and rotate, and this moment driving mechanism power output minimum.Can play preferably control to mechanical hand.
The detachable anti-slipping mechanism of the manipulator of the present embodiment as shown in Figure 1, its course of work is as follows:
When driving mechanism drive control lever advances, inclined-plane by voussoir 4 contacts with rotation roller 5, driving mechanism drives control lever and moves on, the inclined-plane of voussoir 4 drives rotation roller 5 and rotates under the effect of frictional force, rotation roller 5 drives clamping arm 6 rotations also so that the close clamping of the bare terminal end of clamping arm 6, when voussoir 4 moves backward, the elastic force by elastic mechanism so that the bare terminal end of clamping arm 6 unclamp.Because be rolling friction between voussoir and the rotation roller, frictional force is little, and is less to the infringement of workpiece, and simple in structure, is convenient to control.Long in order to prevent that driving mechanism from driving the distance that control lever advances, outer wall at control lever has the limited block 3 that protrudes formation, when control lever advance to certain apart from the time, limited block will be stuck in the position of through hole, so that control lever can not move on, more accurate to the control of clamping framework bare terminal end.
As mentioned above, can implement preferably the present invention.
Claims (10)
1. the detachable anti-slipping mechanism of manipulator, it is characterized in that, comprise clamping device body (1), clamping arm (6), anti-skidding fast (10), bolt, have the bare terminal end clamping of two clamping arms of control (6) or the controlling organization that unclamps in the clamping device body (1), described clamping arm (6) has for the bare terminal end that clamps gripped object, be provided with screw on the end of bare terminal end, has bolt mounting holes on anti-skidding fast (10), bolt passes bolt mounting holes and with the screw assembling anti-skidding fast (10) is fixedly connected with bare terminal end, and the end face that anti-skidding fast (10) contact with gripped object is provided with anti-skidding burr (9).
2. the detachable anti-slipping mechanism of manipulator according to claim 1 is characterized in that, described bolt mounting holes is positioned at the central part of anti-skidding fast (10), and anti-skidding burr (9) is distributed in the periphery of bolt mounting holes.
3. the detachable anti-slipping mechanism of manipulator according to claim 1 and 2, it is characterized in that, the position indent of described bolt mounting holes consists of the bolt installation region, and bolt passes bolt mounting holes and assembles the height that anti-skidding fast (10) are fixedly connected with rear bolt surface with bare terminal end height is no more than anti-skidding burr (9) with screw.
4. the detachable anti-slipping mechanism of manipulator according to claim 1 and 2, it is characterized in that, described controlling organization comprises control lever (2), voussoir (4), rotation roller (5), rotation roller (5) is installed in clamping device body (1) inside and can rotates along installation shaft, the clamping device body also is provided with through hole in (1), control lever (2) one ends pass through hole and are fixedly connected with voussoir (4), the other end is connected with driving mechanism, driving mechanism by the inclined-plane that drives control lever and move control voussoir (4) away from rotation roller (5) or near and hold rotation roller (5) and consist of controlling organization, clamping arm (6) one ends are fixedly connected with rotation roller (5), and the other end of clamping arm (6) consists of bare terminal end.
5. the detachable anti-slipping mechanism of manipulator according to claim 4, it is characterized in that, have on the outer wall of described control lever and protrude the limited block (3) that consists of, limited block (3) is between through hole and driving mechanism, limited block (3) overlaps with the central shaft of through hole, and the end face of limited block (3) outermost end to the control lever central shaft apart from the radius length of length greater than through hole.
6. the detachable anti-slipping mechanism of manipulator according to claim 5, it is characterized in that, described limited block (3) is the circular ring structure that radially protrudes along on the outer wall of control lever, perhaps is that several are along radially protruding and equally distributed projection on the outer wall of control lever.
7. the detachable anti-slipping mechanism of manipulator according to claim 4 is characterized in that, the cross section of described voussoir (4) is isosceles trapezoid, and control lever (2) one ends pass through hole and are fixedly connected with the end face at the place of going to the bottom in the cross section of voussoir (4); Described rotation roller (5), clamping arm (6) are respectively 2 and be symmetricly set on voussoir (4) two ends.
8. the detachable anti-slipping mechanism of manipulator according to claim 7 is characterized in that, the angle that consists of between the waist of described isosceles trapezoid and the height of isosceles trapezoid is 18 °.
9. the detachable anti-slipping mechanism of manipulator according to claim 7 is characterized in that, is provided with elastic mechanism (8) between described two clamping arms (6).
10. the detachable anti-slipping mechanism of manipulator according to claim 9 is characterized in that, described elastic mechanism (8) is spring or spring leaf.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013102496350A CN103317517A (en) | 2013-06-23 | 2013-06-23 | Detachable antiskid mechanism of manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013102496350A CN103317517A (en) | 2013-06-23 | 2013-06-23 | Detachable antiskid mechanism of manipulator |
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| Publication Number | Publication Date |
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| CN103317517A true CN103317517A (en) | 2013-09-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013102496350A Pending CN103317517A (en) | 2013-06-23 | 2013-06-23 | Detachable antiskid mechanism of manipulator |
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| CN (1) | CN103317517A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103722407A (en) * | 2013-12-21 | 2014-04-16 | 袁新 | Clamping jaw device |
| CN104842365A (en) * | 2015-05-22 | 2015-08-19 | 芜湖陀曼精机科技有限公司 | Manipulator used for griping high-temperature workpieces |
| CN105563456A (en) * | 2016-03-10 | 2016-05-11 | 佛山市三水区诺尔贝机器人研究院有限公司 | Vertical profile single-rail traction robot |
| CN105598526A (en) * | 2016-03-10 | 2016-05-25 | 佛山市三水区诺尔贝机器人研究院有限公司 | Clamping mechanism for dragging profile |
| CN105643166A (en) * | 2016-04-06 | 2016-06-08 | 上海固瑞克技术服务站 | Linear adjusting tool and linear adjusting method for board joint |
| CN105945927A (en) * | 2016-06-12 | 2016-09-21 | 江苏新光数控技术有限公司 | Detachable mechanical clamp |
| CN105945973A (en) * | 2016-06-12 | 2016-09-21 | 江苏新光数控技术有限公司 | Industrial mechanical arm |
| CN106426253A (en) * | 2016-11-24 | 2017-02-22 | 上海云线娃娃信息科技有限公司 | Mechanical arm |
| CN107813335A (en) * | 2017-12-01 | 2018-03-20 | 揭阳市腾晟科技咨询有限公司 | A kind of anti abrasive manipulator |
| CN107857060A (en) * | 2017-10-30 | 2018-03-30 | 陈永 | A kind of template conveyer for mould production |
| CN108687792A (en) * | 2017-04-07 | 2018-10-23 | 上银科技股份有限公司 | Clamping jaw with function of vertically lifting workpiece |
| CN109847998A (en) * | 2019-04-09 | 2019-06-07 | 无锡奥普特自动化技术有限公司 | Automatic uniform point glue equipment |
| CN112374124A (en) * | 2020-11-12 | 2021-02-19 | 江西腾世优新能源有限公司 | Lithium battery cap loading attachment |
| CN116476119A (en) * | 2023-06-21 | 2023-07-25 | 季华实验室 | Opening angle type two-finger clamp and excitation method thereof |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103722407A (en) * | 2013-12-21 | 2014-04-16 | 袁新 | Clamping jaw device |
| CN104842365A (en) * | 2015-05-22 | 2015-08-19 | 芜湖陀曼精机科技有限公司 | Manipulator used for griping high-temperature workpieces |
| CN105563456B (en) * | 2016-03-10 | 2018-01-02 | 佛山市三水区诺尔贝机器人研究院有限公司 | A kind of vertical section bar monorail traction robot |
| CN105563456A (en) * | 2016-03-10 | 2016-05-11 | 佛山市三水区诺尔贝机器人研究院有限公司 | Vertical profile single-rail traction robot |
| CN105598526A (en) * | 2016-03-10 | 2016-05-25 | 佛山市三水区诺尔贝机器人研究院有限公司 | Clamping mechanism for dragging profile |
| CN105643166A (en) * | 2016-04-06 | 2016-06-08 | 上海固瑞克技术服务站 | Linear adjusting tool and linear adjusting method for board joint |
| CN105945973A (en) * | 2016-06-12 | 2016-09-21 | 江苏新光数控技术有限公司 | Industrial mechanical arm |
| CN105945927A (en) * | 2016-06-12 | 2016-09-21 | 江苏新光数控技术有限公司 | Detachable mechanical clamp |
| CN106426253A (en) * | 2016-11-24 | 2017-02-22 | 上海云线娃娃信息科技有限公司 | Mechanical arm |
| CN108687792A (en) * | 2017-04-07 | 2018-10-23 | 上银科技股份有限公司 | Clamping jaw with function of vertically lifting workpiece |
| CN107857060A (en) * | 2017-10-30 | 2018-03-30 | 陈永 | A kind of template conveyer for mould production |
| CN107813335A (en) * | 2017-12-01 | 2018-03-20 | 揭阳市腾晟科技咨询有限公司 | A kind of anti abrasive manipulator |
| CN109847998A (en) * | 2019-04-09 | 2019-06-07 | 无锡奥普特自动化技术有限公司 | Automatic uniform point glue equipment |
| CN112374124A (en) * | 2020-11-12 | 2021-02-19 | 江西腾世优新能源有限公司 | Lithium battery cap loading attachment |
| CN112374124B (en) * | 2020-11-12 | 2022-06-03 | 安徽正信机电科技有限公司 | Lithium battery cap loading attachment |
| CN116476119A (en) * | 2023-06-21 | 2023-07-25 | 季华实验室 | Opening angle type two-finger clamp and excitation method thereof |
| CN116476119B (en) * | 2023-06-21 | 2023-09-12 | 季华实验室 | Opening angle type two-finger clamp and excitation method thereof |
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Application publication date: 20130925 |