CN103921281A - Gripper of mechanical arm - Google Patents
Gripper of mechanical arm Download PDFInfo
- Publication number
- CN103921281A CN103921281A CN201410189080.XA CN201410189080A CN103921281A CN 103921281 A CN103921281 A CN 103921281A CN 201410189080 A CN201410189080 A CN 201410189080A CN 103921281 A CN103921281 A CN 103921281A
- Authority
- CN
- China
- Prior art keywords
- handgrip
- gripper
- gripper body
- locknut
- piston rod
- 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.)
- Granted
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Abstract
The invention discloses a gripper of a mechanical arm. The gripper of the mechanical arm comprises a first gripper body, an air cylinder piston rod, an air cylinder body, a second gripper body, a fixing shaft of the second gripper body, a first spring washer, a first fastening nut, a second spring washer, a second fastening nut, a third spring washer, a third fastening nut and a gripper fixing frame, wherein the first gripper body is a movable gripper body, the lower side of the first gripper body is of a panel structure, the upper side of the first gripper body is assembled to the air cylinder piston rod through the first spring washer and the first fastening nut, and the distance between the first gripper body and the gripper fixing frame is adjusted through the relative movement between the air cylinder piston rod and the air cylinder body; the second gripper body is a fixed gripper body, the lower side of the second gripper body is of an n-shaped structure, the upper side of the second gripper body is assembled to the fixing shaft of the second gripper body through the third spring washer and the third fastening nut, and the fixing shaft of the second gripper body is assembled to the gripper fixing frame through the second spring washer and the second fastening nut. The gripper of the mechanical arm is simple and compact in structure, convenient to manufacture and install and reliable in manufacturing and installation, the grabbing reliability and the placing reliability of the mechanical arm of a small robot are improved, and the popularization and application in the small robot industry are facilitated.
Description
Technical field
The present invention relates to a kind of manipulator of robot, specifically relate to a kind of tongs of small scale robot.
Background technology
Robot application is extensive, and wherein manipulator is its critical component, can be by crawl and the placement function of manipulator complete operation object.Small-sized machine people's tongs structure and operand contact portion are generally two panels.
At present, small-sized machine people's manipulator is when to the crawl of operand and placement, and because operated object exists the larger appearance of mismachining tolerance promptly not firm, operand placement location is inaccurate.
Summary of the invention
For the manipulator that overcomes existing small-sized machine people is to the crawl of operand with while placing, because operated object exists the promptly not firm and inaccurate defect of operand placement location of the larger appearance of mismachining tolerance, the invention provides a kind of new tongs.
The present invention specifically solves the technical solution that its technical problem adopts: new tongs comprises the fixed axis 1 of handgrip two, spring shim 32, the fixed mount 3 of handgrip, spring shim 1, locknut 1, handgrip 1, cylinder piston rod 7, cylinder block 8, spring shim 29, locknut 2 10, handgrip 2 11 and locknut 3 12.Wherein, handgrip 1 is assembled on cylinder piston rod 7 by the through hole of its upside, utilizes spring shim 1 and locknut 1 to carry out tightening; Handgrip 2 11 by upside and through hole be assembled on the fixed axis 1 of handgrip two, utilize spring shim 32 and locknut 3 12 to carry out tightening; The fixed axis 1 of handgrip two is fixed on the fixed mount 3 of handgrip by screw thread, utilizes spring shim 29 and the locking tightening of locknut 2 10; Cylinder piston rod 7 is assembled to (note: do not mark on tightening mode accompanying drawing) in cylinder block 8; Cylinder block 8 is fixed on the fixed mount 3 of handgrip (note: do not mark on fixed form accompanying drawing).In addition, handgrip 1 is movable handgrip, by cylinder piston rod 7 and cylinder block 8, realizes moving horizontally of handgrip 1, regulates the distance between handgrip 1 and the fixed mount 3 of handgrip, and the downside of handgrip 1 and operand contact portion are panel construction; Handgrip 2 11 is fixing handgrip, by the fixed axis 1 maintenance handgrip 1 of handgrip two and the constant distance between the fixed mount 3 of handgrip, the downside of handgrip 2 11 and operand contact portion are " n " type structure, can reduce holding area, overcome the illusive impact of firmly grasping that foozle brings.
The invention has the beneficial effects as follows, adopt a kind of new tongs, solved original small-sized machine people's manipulator when to the crawl of operand and placement, because operated object exists the larger appearance of mismachining tolerance promptly not firm, the problems such as operand placement location is inaccurate, it is simple in structure and compact, making and easy installation and reliable, the crawl of raising small-sized machine people's manipulator and placement reliability.
Accompanying drawing explanation
Fig. 1 is a kind of tongs structural representation of the present invention;
Fig. 2 is that the A of 11 in a kind of tongs Fig. 1 of the present invention is to view;
Fig. 3 is that the B of 6 in a kind of tongs Fig. 1 of the present invention is to view.
The fixed axis of 1. handgrips two in figure, 2. spring shim three, the 3. fixed mount of handgrip, 4. spring shim one, and 5. locknut one, and 6. handgrip one, 7. cylinder piston rod, 8. cylinder block, 9. spring shim two, 10. locknut two, 11. handgrips two and 12. locknuts three.
The specific embodiment
Below in conjunction with drawings and Examples, patent of the present invention is further described.
Referring to accompanying drawing, a kind of new tongs, comprises the fixed axis 1 of handgrip two, spring shim 32, the fixed mount 3 of handgrip, spring shim 1, locknut 1, handgrip 1, cylinder piston rod 7, cylinder block 8, spring shim 29, locknut 2 10, handgrip 2 11 and locknut 3 12.Wherein, handgrip 1 is assembled on cylinder piston rod 7 by the through hole of its upside, utilizes spring shim 1 and locknut 1 to carry out tightening; Handgrip 2 11 by upside and through hole be assembled on the fixed axis 1 of handgrip two, utilize spring shim 32 and locknut 3 12 to carry out tightening; The fixed axis 1 of handgrip two is fixed on the fixed mount 3 of handgrip by screw thread, utilizes spring shim 29 and the locking tightening of locknut 2 10; Cylinder piston rod 7 is assembled to (note: do not mark on tightening mode accompanying drawing) in cylinder block 8; Cylinder block 8 is fixed on the fixed mount 3 of handgrip (note: do not mark on fixed form accompanying drawing).In addition, handgrip 1 is movable handgrip, by cylinder piston rod 7 and cylinder block 8, realizes moving horizontally of handgrip 1, regulates the distance between handgrip 1 and the fixed mount 3 of handgrip, and the downside of handgrip 1 and operand contact portion are panel construction; Handgrip 2 11 is fixing handgrip, by the fixed axis 1 maintenance handgrip 1 of handgrip two and the constant distance between the fixed mount 3 of handgrip, the downside of handgrip 2 11 and operand contact portion are " n " type structure, can reduce holding area, overcome the illusive impact of firmly grasping that foozle brings.
Whenever manipulator completes after the crawl of operand and placing, handgrip 1 returns to home position under cylinder piston rod 7 and cylinder block 8 effects; When manipulator starts the crawl to operand, handgrip 1 moves at cylinder piston rod 7 and cylinder block 8 exposure level, distance between adjustment handgrip 1 and handgrip 2 11, realizes the clamping to operand by the downside plate structure of handgrip 1 and downside " n " the type structure of handgrip 2 11; When manipulator starts the placement to operand, handgrip 1 moves at cylinder piston rod 7 and cylinder block 8 exposure level, distance between adjustment handgrip 1 and handgrip 2 11, realizes unclamping and placing operand by the downside plate structure of handgrip 1 and downside " n " the type structure of handgrip 2 11.
Claims (3)
1. a tongs, comprise, the fixed axis of handgrip two (1), spring shim three (2), the fixed mount of handgrip (3), spring shim one (4), locknut one (5), handgrip one (6), cylinder piston rod (7), cylinder block (8), spring shim two (9), locknut two (10), handgrip two (11) and locknut three (12), it is characterized in that: it is upper that described handgrip one (6) through hole by its upside is assembled to cylinder piston rod (7), utilizes spring shim one (4) and locknut one (5) to realize tightening; Handgrip two (11) by upside and through hole to be assembled to the fixed axis (1) of handgrip two upper, utilize spring shim three (2) and locknut three (12) to realize tightening; The fixed mount (3) that the fixed axis of handgrip two (1) is fixed to handgrip by screw thread is upper, utilizes spring shim two (9) and locknut two (10) locking tightenings.
2. a kind of tongs according to claim 1, it is characterized in that: described handgrip one (6) is movable handgrip, by cylinder piston rod (7) and cylinder block (8), realize moving horizontally of handgrip one (6), distance between the fixed mount (3) of adjusting handgrip one (6) and handgrip; The downside of handgrip one (6) and operand contact portion are panel construction.
3. a kind of tongs according to claim 1, it is characterized in that: described handgrip two (11) is fixing handgrip, by fixed axis (1) the maintenance handgrip two (11) of handgrip two and the constant distance between the fixed mount (3) of handgrip; The downside of handgrip two (11) and operand contact portion are " n " type structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410189080.XA CN103921281B (en) | 2014-05-06 | 2014-05-06 | A kind of tongs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410189080.XA CN103921281B (en) | 2014-05-06 | 2014-05-06 | A kind of tongs |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103921281A true CN103921281A (en) | 2014-07-16 |
| CN103921281B CN103921281B (en) | 2016-04-06 |
Family
ID=51139798
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410189080.XA Active CN103921281B (en) | 2014-05-06 | 2014-05-06 | A kind of tongs |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103921281B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07328978A (en) * | 1994-06-02 | 1995-12-19 | Rohm Co Ltd | Chuck device for hard plate |
| JP2007021691A (en) * | 2005-07-20 | 2007-02-01 | Yaskawa Electric Corp | Hand for carrying ring and carrying device using the hand |
| CN201597032U (en) * | 2010-05-21 | 2010-10-06 | 庄信万丰(上海)化工有限公司 | Mechanical arm structure for automobile catalyst production device |
| CN102699911A (en) * | 2012-06-27 | 2012-10-03 | 刘敏 | Flexible transfer and carrying manipulator |
| CN203843847U (en) * | 2014-05-06 | 2014-09-24 | 安徽工程大学 | Gripper of mechanical arm |
-
2014
- 2014-05-06 CN CN201410189080.XA patent/CN103921281B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07328978A (en) * | 1994-06-02 | 1995-12-19 | Rohm Co Ltd | Chuck device for hard plate |
| JP2007021691A (en) * | 2005-07-20 | 2007-02-01 | Yaskawa Electric Corp | Hand for carrying ring and carrying device using the hand |
| CN201597032U (en) * | 2010-05-21 | 2010-10-06 | 庄信万丰(上海)化工有限公司 | Mechanical arm structure for automobile catalyst production device |
| CN102699911A (en) * | 2012-06-27 | 2012-10-03 | 刘敏 | Flexible transfer and carrying manipulator |
| CN203843847U (en) * | 2014-05-06 | 2014-09-24 | 安徽工程大学 | Gripper of mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103921281B (en) | 2016-04-06 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
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| TR01 | Transfer of patent right |
Effective date of registration: 20201224 Address after: 239500 Yangqiao Industrial Concentration Zone, Xianghe Town, Quanjiao County, Chuzhou City, Anhui Province Patentee after: ANHUI QUANCHAI JINTIAN MACHINERY Co.,Ltd. Address before: 230001 Beijing Middle Road, Wuhu City, Anhui Province Patentee before: ANHUI POLYTECHNIC University |
|
| TR01 | Transfer of patent right |