CN104669250A - Material taking mechanical hand - Google Patents
Material taking mechanical hand Download PDFInfo
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- CN104669250A CN104669250A CN201510063325.9A CN201510063325A CN104669250A CN 104669250 A CN104669250 A CN 104669250A CN 201510063325 A CN201510063325 A CN 201510063325A CN 104669250 A CN104669250 A CN 104669250A
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- cylinder
- spiral arm
- reclaimer robot
- fixed head
- fixture block
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Abstract
The invention discloses a material taking mechanical hand, which comprises a hand, a movement mechanism and a control system, wherein the hand is driven by the control system through the movement mechanism to grab a corresponding workpiece, and comprises a clamping component and a pneumatic finger; the clamping component is driven by the pneumatic finger to grab the workpiece or a tool; the movement mechanism comprises a rotating arm, cylinders, a connecting rod and an upright post; the pneumatic finger is pivotally connected with the rotating arm through a connecting component; the rotating arm is pivotally connected to the upright post; the cylinders comprise a first cylinder and a second cylinder; the hand is driven by the first cylinder through the connecting component to rotate; the rotating arm is driven by the second cylinder through the connecting rod to rotate; the control system comprises an electromagnetic valve, a pressure regulating valve and a bottom plate; the electromagnetic valve, the pressure regulating valve and the upright post are fixedly arranged on the bottom plate. The material taking mechanical hand is simple in structure, convenient to assemble, disassemble, popularize and use and higher in universality; the material taking mechanical hand can further be expanded for grabbing workpieces or parts of different structures according to needs, and is convenient to use.
Description
Technical field
The present invention relates to field of mechanical technique, be specifically related to a kind of reclaimer robot.
Background technology
Manipulator is a kind of some holding function can imitating staff and arm, in order to capture, to carry the automatic pilot of object or operation tool by fixed routine.Manipulator is the industrial robot occurred the earliest; also be the modern machines people occurred the earliest; it can replace the heavy labor of people to realize mechanization and the automation of production; can operate to protect personal safety under hostile environment, thus be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
But existing manipulator often structure is comparatively complicated, its assembly and disassembly process is comparatively consuming time, and easily causes the problem of fluctuation of service.Meanwhile, existing general-purpose for mechanical arm is poor, cannot realize applying on a large scale.
Therefore, for the problems referred to above, be necessary to provide a kind of reclaimer robot.
Summary of the invention
The invention provides a kind of reclaimer robot, more complicated with the structure solving existing machinery hand, assembly and disassembly process longer technical problem consuming time.
In order to solve above technical problem, the technical scheme that the present invention takes is:
A kind of reclaimer robot, described reclaimer robot comprises hand, motion and control system, and described control system drives described hand to capture associated workpiece or instrument by described motion;
Described hand comprises clamp assemblies and pneumatic-finger, and described pneumatic-finger drives described clamp assemblies grabbing workpiece or instrument;
Described motion comprises spiral arm, cylinder, connecting rod and column, described pneumatic-finger is undertaken pivotally connected by a coupling assembling and described spiral arm, described spiral arm is pivotally connected on described column, described cylinder comprises the first cylinder and the second cylinder, described first cylinder drives hand to rotate by described coupling assembling, and described second cylinder drives described spiral arm to rotate by described connecting rod;
Described control system comprises magnetic valve, pressure regulator valve and base plate, and described magnetic valve, pressure regulator valve, column are fixed on described base plate.
Be preferably, described clamp assemblies comprises left fixture block and right fixture block, and described left fixture block and right fixture block slide and be arranged on described pneumatic-finger, form grasping part between described left fixture block and right fixture block.
Be preferably, described coupling assembling comprises contiguous block and L arc, and described L arc one end is fixedly connected with described pneumatic-finger by described contiguous block, and the other end is connected with described first cylinder-driven, and the middle part of described L arc is pivotally connected to one end of described spiral arm.
Be preferably, described motion also comprises fixed head, and described column one end is through described fixed head, and described spiral arm carries out pivotally connected by a bearing and described column through one end of fixed head, is also provided with bearing block between described spiral arm and described fixed head.
Be preferably, described fixed head is also provided with regulating block, and described regulating block is positioned at the side of described spiral arm.
Be preferably, described reclaimer robot comprises the first tip axle and the second tip axle, and described second cylinder is fixed on described fixed head by described first tip axle; Described connecting rod one end and described spiral arm are in transmission connection, and the other end of described connecting rod is fixed on described fixed head by described second tip axle.
Be preferably, described reclaimer robot also comprises the first cylinder hinge and the second cylinder hinge, and described first cylinder is connected with described spiral arm by described first cylinder hinge, and described second cylinder is connected with described first tip axle by described second cylinder hinge.
Be preferably, described column is also set with regulating sleeve.
After employing technique scheme, reclaimer robot structure of the present invention is simple, and assembly and disassembly is convenient, and versatility is better, easy to utilize.And reclaimer robot of the present invention also can be expanded as required, for capturing workpiece or the part of different structure, easy to use.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the topology view of reclaimer robot of the present invention;
Detailed description of the invention
For making the object of the embodiment of the present invention, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making other embodiments all obtained under creative work prerequisite, belong to the scope of protection of the invention.
As shown in Figure 1, reclaimer robot comprises hand, motion and control system, and wherein control system drives hand to capture associated workpiece or instrument by motion.
Hand comprises clamp assemblies 100 and pneumatic-finger 101, and wherein pneumatic-finger 101 can drive clamp assemblies 100 grabbing workpiece or instrument.Particularly, in present embodiment, clamp assemblies 100 comprises left fixture block 110 and right fixture block 120, and left fixture block 110 and right fixture block 120 slide and be arranged on pneumatic-finger 101, form grasping part between left fixture block 110 and right fixture block 120.When left fixture block 110 and right fixture block 120 slide in opposition, left fixture block 110 and right fixture block 120 form holding action, and when left fixture block 110 and the opposing slip of right fixture block 120, clamp assemblies 100 discharges by the workpiece clamped.
In other technologies scheme, clamp assemblies 100 can replace with holding assembly or absorbent module, thus can capture the workpiece with difformity, size, weight, material and job requirements.
In above-mentioned embodiment, the clamping face that left fixture block 110 is relative with right fixture block 120 is also provided with some bulge-structures, thus increases the frictional force of clamping face, be convenient to pick up object.
Motion comprises spiral arm 201, cylinder, connecting rod 203 and column 204.Wherein spiral arm 201 one end is undertaken pivotally connected by a coupling assembling and pneumatic-finger 101, and cylinder comprises the first cylinder 220 and the second cylinder 221.Particularly, coupling assembling comprises contiguous block 310 and L arc 320, wherein L arc 320 one end to be fixed with pneumatic-finger 101 by contiguous block 310 and to be connected, and the other end and the first cylinder 220 are in transmission connection, and the middle part of L arc 320 is pivotally connected to one end of spiral arm 201 by the first rotating shaft.Thus, under the driving of the first cylinder 220, hand can in perpendicular with the first rotating shaft for rotating shaft is rotated.
Be provided with the first cylinder head between L arc 320 and the first cylinder 220, undertaken pivotally connected by the second rotating shaft between the first cylinder head and L arc 320, this second rotating shaft is set with the first jump ring.
Spiral arm 201 is pivotally connected on column 204, and the other end of spiral arm 201 is in transmission connection by connecting rod 203 and the second cylinder 221.Be provided with the second cylinder head between this second cylinder 221 and connecting rod 203, undertaken pivotally connected by the 3rd rotating shaft between the second cylinder head and connecting rod 203.By the driving of the second cylinder 221, spiral arm 201 with column 204 for rotating shaft, planar can rotate, thus drives hand to rotate in this plane.
Motion also comprises fixed head 205, column 204 one end is through fixed head 205, spiral arm 201 carries out pivotally connected by a bearing and column 204 through one end of fixed head 205, also be provided with bearing block 400 between spiral arm 201 and fixed head 205, and be provided with spacer ring between bearing block 400 and fixed head 205.In addition, fixed head 205 is also provided with regulating block 500, regulating block 500 is positioned at the side of spiral arm 201.
Reclaimer robot also comprises the first tip axle 610 and the second tip axle 620, and wherein, the second cylinder 221 is fixed on fixed head 205 by the first tip axle 610; Further, connecting rod 203 one end and spiral arm 201 are in transmission connection, and the other end of connecting rod 203 is fixed on fixed head 205 by the second tip axle 620.
In addition, reclaimer robot also comprises the first cylinder hinge 710 and the second cylinder hinge 720, first cylinder 220 is connected with spiral arm 201 by the first cylinder hinge 710.Second cylinder 221 is connected with the first tip axle 610 by the second cylinder hinge 720.
Control system comprises magnetic valve 810, pressure regulator valve 820 and base plate 930, and wherein, magnetic valve 810, pressure regulator valve 820, column 204 are fixed on base plate 930.Particularly, column 204 is fixed on base plate 930 by ring flange, and ring flange is fixed by hexagon socket head cap screw, and column 204 is also set with regulating sleeve.Magnetic valve 810, pressure regulator valve 820 control the first cylinder 220 and the second cylinder 221, to realize the control of position to hand and the anglec of rotation.This Outer Bottom Plating 930 is also provided with insert row seat.
Reclaimer robot structure of the present invention is simple, and assembly and disassembly is convenient, and versatility is better, easy to utilize.And reclaimer robot of the present invention also can be expanded as required, for capturing workpiece or the part of different structure, easy to use.
Last it is noted that above embodiment only illustrates technical scheme of the present invention, be not intended to limit; Although with reference to previous embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (8)
1. a reclaimer robot, is characterized in that, described reclaimer robot comprises hand, motion and control system, and described control system drives described hand to capture associated workpiece or instrument by described motion;
Described hand comprises clamp assemblies and pneumatic-finger, and described pneumatic-finger drives described clamp assemblies grabbing workpiece or instrument;
Described motion comprises spiral arm, cylinder, connecting rod and column, described pneumatic-finger is undertaken pivotally connected by a coupling assembling and described spiral arm, described spiral arm is pivotally connected on described column, described cylinder comprises the first cylinder and the second cylinder, described first cylinder drives hand to rotate by described coupling assembling, and described second cylinder drives described spiral arm to rotate by described connecting rod;
Described control system comprises magnetic valve, pressure regulator valve and base plate, and described magnetic valve, pressure regulator valve, column are fixed on described base plate.
2. reclaimer robot according to claim 1, is characterized in that, described clamp assemblies comprises left fixture block and right fixture block, and described left fixture block and right fixture block slide and be arranged on described pneumatic-finger, form grasping part between described left fixture block and right fixture block.
3. reclaimer robot according to claim 2, it is characterized in that, described coupling assembling comprises contiguous block and L arc, described L arc one end is fixedly connected with described pneumatic-finger by described contiguous block, the other end is connected with described first cylinder-driven, and the middle part of described L arc is pivotally connected to one end of described spiral arm.
4. reclaimer robot according to claim 3, it is characterized in that, described motion also comprises fixed head, described column one end is through described fixed head, described spiral arm carries out pivotally connected by a bearing and described column through one end of fixed head, is also provided with bearing block between described spiral arm and described fixed head.
5. reclaimer robot according to claim 4, is characterized in that, described fixed head is also provided with regulating block, and described regulating block is positioned at the side of described spiral arm.
6. reclaimer robot according to claim 5, is characterized in that, described reclaimer robot comprises the first tip axle and the second tip axle, and described second cylinder is fixed on described fixed head by described first tip axle; Described connecting rod one end and described spiral arm are in transmission connection, and the other end of described connecting rod is fixed on described fixed head by described second tip axle.
7. reclaimer robot according to claim 6, it is characterized in that, described reclaimer robot also comprises the first cylinder hinge and the second cylinder hinge, described first cylinder is connected with described spiral arm by described first cylinder hinge, and described second cylinder is connected with described first tip axle by described second cylinder hinge.
8. reclaimer robot according to claim 7, is characterized in that, described column is also set with regulating sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510063325.9A CN104669250A (en) | 2015-02-06 | 2015-02-06 | Material taking mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510063325.9A CN104669250A (en) | 2015-02-06 | 2015-02-06 | Material taking mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104669250A true CN104669250A (en) | 2015-06-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510063325.9A Pending CN104669250A (en) | 2015-02-06 | 2015-02-06 | Material taking mechanical hand |
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| CN (1) | CN104669250A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106694731A (en) * | 2016-12-08 | 2017-05-24 | 宁波职业技术学院 | Two-rod gripping device for punch mechanical arm |
| CN108247675A (en) * | 2018-03-21 | 2018-07-06 | 东莞市特力精密夹具有限公司 | A kind of air-cylinder type multiaxis combined machine arm system |
| CN108544228A (en) * | 2018-06-15 | 2018-09-18 | 广东统机器人智能股份有限公司 | A kind of roller bearing automatic assembling machine |
| CN108748122A (en) * | 2018-06-29 | 2018-11-06 | 平湖市浩鑫塑胶有限公司 | A kind of clamp moving mechanism of plastic bottle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000343464A (en) * | 1999-05-31 | 2000-12-12 | Denso Corp | Robot device |
| CN203592485U (en) * | 2013-11-29 | 2014-05-14 | 杭州美高华颐化工有限公司 | Efficient environment-friendly automatic material-taking mechanical hand |
| CN203818142U (en) * | 2014-04-30 | 2014-09-10 | 嘉兴乾昆工业设计有限公司 | Mechanical arm capable of grabbing materials automatically |
| CN203853997U (en) * | 2014-04-14 | 2014-10-01 | 浙江工业职业技术学院 | Automatic material taking manipulator |
| CN203936916U (en) * | 2014-06-12 | 2014-11-12 | 郑海燕 | A kind of automatic material-fetching mechanical hand of multi-angle rotary |
-
2015
- 2015-02-06 CN CN201510063325.9A patent/CN104669250A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000343464A (en) * | 1999-05-31 | 2000-12-12 | Denso Corp | Robot device |
| CN203592485U (en) * | 2013-11-29 | 2014-05-14 | 杭州美高华颐化工有限公司 | Efficient environment-friendly automatic material-taking mechanical hand |
| CN203853997U (en) * | 2014-04-14 | 2014-10-01 | 浙江工业职业技术学院 | Automatic material taking manipulator |
| CN203818142U (en) * | 2014-04-30 | 2014-09-10 | 嘉兴乾昆工业设计有限公司 | Mechanical arm capable of grabbing materials automatically |
| CN203936916U (en) * | 2014-06-12 | 2014-11-12 | 郑海燕 | A kind of automatic material-fetching mechanical hand of multi-angle rotary |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106694731A (en) * | 2016-12-08 | 2017-05-24 | 宁波职业技术学院 | Two-rod gripping device for punch mechanical arm |
| CN106694731B (en) * | 2016-12-08 | 2018-06-01 | 宁波职业技术学院 | Punching machine mechanical arm double stick material grabbing device |
| CN108247675A (en) * | 2018-03-21 | 2018-07-06 | 东莞市特力精密夹具有限公司 | A kind of air-cylinder type multiaxis combined machine arm system |
| CN108544228A (en) * | 2018-06-15 | 2018-09-18 | 广东统机器人智能股份有限公司 | A kind of roller bearing automatic assembling machine |
| CN108748122A (en) * | 2018-06-29 | 2018-11-06 | 平湖市浩鑫塑胶有限公司 | A kind of clamp moving mechanism of plastic bottle |
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Application publication date: 20150603 |