CN105108765A - Manipulator capable of simulating finger holding - Google Patents
Manipulator capable of simulating finger holding Download PDFInfo
- Publication number
- CN105108765A CN105108765A CN201510653691.XA CN201510653691A CN105108765A CN 105108765 A CN105108765 A CN 105108765A CN 201510653691 A CN201510653691 A CN 201510653691A CN 105108765 A CN105108765 A CN 105108765A
- Authority
- CN
- China
- Prior art keywords
- rotating
- claw
- journal stirrup
- cylinder
- hydraulic cylinder
- 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
Links
- 210000000078 claw Anatomy 0.000 claims description 45
- 239000007788 liquid Substances 0.000 claims description 17
- 229910000831 Steel Inorganic materials 0.000 abstract description 12
- 239000010959 steel Substances 0.000 abstract description 12
- 238000003723 Smelting Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 14
- 229910052742 iron Inorganic materials 0.000 description 7
- 239000000463 material Substances 0.000 description 7
- 230000001788 irregular Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 239000010908 plant waste Substances 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a manipulator capable of simulating finger holding. The manipulator comprises a suction cup base, rotating cylinders, rotating arms, clamping jaw hydraulic cylinders, clamping jaws, long hinge pins, rotating hydraulic cylinders and an electromagnet, wherein each rotating cylinder is connected between a corresponding upper supporting lug and a corresponding lower supporting lug of the suction cup base through the corresponding long hinge pin and is connected with the corresponding rotating arm through a hinge pin in a hole in the lower part of the corresponding rotating cylinder, the other end of each rotating arm is connected to a hole in the corresponding clamping jaw supporting lug through a hinge pin, a supporting lug at the elbow part of each rotating arm is connected with the corresponding clamping jaw hydraulic cylinder through a small hinge pin, the other end of each clamping jaw hydraulic cylinder is connected to a small supporting lug hole of the corresponding clamping jaw through a small hinge pin, a small supporting lug on each rotating cylinder is connected with the corresponding rotating hydraulic cylinder through a small hinge pin, the other end of each rotating hydraulic cylinder is connected to a corresponding small supporting lug on the arc-shaped surface of the suction cup base, and the electromagnet is connected with the inside of the suction cup base. The manipulator has the clamping jaws which are reasonable in design and compact and symmetric in structure, is good in safety performance and high in flexibility and is applicable to smelting steel for steel manufacturing.
Description
Technical field
The present invention relates to plant equipment exploitation and manufacturing technology field, particularly relate to the mechanical arm that a kind of hand closes finger-type.
Background technology
Manipulator can imitate some holding function of staff and arm, in order to capture, to carry the automatic pilot of object or operation tool by fixed routine; 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.
Electromagnet application is in practice a lot, and the most directly application is exactly electromagnetic lifter; Electromagnet is arranged on crane, picks up a large amount of iron and steel after energising, cut off electric current, iron and steel is put down after moving to another location, large-scale electromagnetic lifter once can be sling several tons of steel.
Application number is: the Chinese patent of 201310413135.6 discloses a kind of loading machine with material pushing function, and wherein pulling bucket can not be applicable to the handling of various materials.Irregular material or pulverous material in this way, in use this kind of pulling bucket, operating efficiency is low, compares and takes time and effort.
The mechanical arm that a kind of hand of the present invention's invention closes finger-type combines the function of manipulator and the function of electromagnet, on loading machine and steel plant wastes of iron and steel is put in smelting furnace.
Summary of the invention
In order to overcome above-mentioned the deficiencies in the prior art, the invention provides the mechanical arm that a kind of hand closes finger-type.
The technical solution adopted in the present invention is:
A kind of hand closes the mechanical arm of finger-type, comprise sucker disk seat, rotating cylinder, turning arm, claw hydraulic cylinder, claw, long pin shaft, rotating liquid cylinder pressure, electromagnet, described sucker disk seat is provided with the upper down journal and little journal stirrup that are arranged symmetrically with, by long pin shaft, rotating cylinder is connected between upper down journal, on the hole of rotating cylinder bottom, use pinned connection turning arm, and certain angle can be rotated up and down around bearing pin, for overturning claw, turning arm other end pinned connection is on the hole of claw journal stirrup, also certain angle can be rotated around bearing pin, for capturing goods, the ancon of described turning arm has little journal stirrup small clevis pin with head to connect claw hydraulic cylinder, claw hydraulic cylinder other end small clevis pin with head is connected on the ramuscule earhole of claw, flexible lifting and the rotation that can realize claw of claw hydraulic cylinder, be convenient to pick and place goods, little journal stirrup on rotating cylinder connects rotating liquid cylinder pressure with small clevis pin with head, the rotating liquid cylinder pressure other end is connected on the little journal stirrup on sucker disk seat arc surface, the cylinder bar of rotating liquid cylinder pressure stretches and can realize the rotation of claw in horizontal plane, electromagnet is connected in the inside of sucker disk seat.
Further, described sucker disk seat is barrel-shaped, periphery is furnished with the upper down journal of symmetrical structure for installing connection rotating cylinder, and little journal stirrup connects rotating liquid cylinder pressure for installing.
Further, the outer well surface of described rotating cylinder is provided with little journal stirrup and connects rotating liquid cylinder pressure for being connected and installed.
Further, the ancon of described turning arm is provided with little journal stirrup for connecting claw hydraulic cylinder.
Further, described claw is provided with journal stirrup and little journal stirrup, and on the same line, journal stirrup is used for connecting turning arm, can realize rotating, little journal stirrup is used for connecting claw hydraulic cylinder, is used for realizing rotating.
Further, the cylinder bar of described claw hydraulic cylinder stretches and can realize the upset of claw, is convenient to pick and place goods.
Under entering, the cylinder bar of described rotating liquid cylinder pressure stretches and can realize the rotation of claw in horizontal plane.
Compared with prior art, the invention has the beneficial effects as follows: combine the function of manipulator and the function of electromagnet, adopt the claw of symmetrical structure can rise with irregular waste materials pawl with larger, also with motor magnet, little can be picked up with steel iron filings, and claw adopts the arc system of claw, powder material can be played by pawl, also the handling of irregular material can be used for, when the irregular material of pawl, when a certain pawl can not block, can time this pawl rotate, be convenient to block, for steel plant, wastes of iron and steel is put in smelting furnace, work with claw simultaneously, its security can be ensured greatly, the inefficacy of electromagnet and claw can be prevented, have reasonable in design, compact conformation, security is good, when capturing irregular bloom, claw horizontal direction can turn to appropriate position, flexibility is strong, be suitable for the melting iron and steel that iron and steel manufactures.
Accompanying drawing explanation
Fig. 1 is the perspective view that a kind of hand closes the mechanical arm of finger-type;
Fig. 2 is the plan structure schematic diagram that a kind of hand closes the mechanical arm of finger-type;
Fig. 3 is the main TV structure schematic diagram that a kind of hand closes the mechanical arm of finger-type;
Fig. 4 is the side-looking structural representation that a kind of hand closes the mechanical arm of finger-type.
Detailed description of the invention
A kind of hand closes the mechanical arm of finger-type, comprise sucker disk seat 1, rotating cylinder 2, turning arm 3, claw hydraulic cylinder 4, claw 5, long pin shaft 7, rotating liquid cylinder pressure 6, electromagnet 8, described sucker disk seat 1 is provided with the upper down journal 11 and little journal stirrup 12 that are arranged symmetrically with, by long pin shaft 7, rotating cylinder 2 is connected between upper down journal 11, on the hole of rotating cylinder 2 bottom, turning arm 3 is connected with bearing pin 31, and certain angle can be rotated around bearing pin about 31, for overturning claw, turning arm 3 other end bearing pin 51 is connected on the hole of claw journal stirrup 54, also certain angle can be rotated around bearing pin 51, for capturing goods, the ancon of described turning arm 3 has little journal stirrup 32 small clevis pin with head 33 to connect claw hydraulic cylinder 4, claw hydraulic cylinder 4 other end small clevis pin with head 53 is connected on the ramuscule earhole 52 of claw, flexible lifting and the rotation that can realize claw 5 of claw hydraulic cylinder 4, be convenient to pick and place goods, little journal stirrup 21 on rotating cylinder 2 connects rotating liquid cylinder pressure 6 with small clevis pin with head 22, rotating liquid cylinder pressure 6 other end is connected on the little journal stirrup 12 on sucker disk seat 1 arc surface, the cylinder bar of rotating liquid cylinder pressure 6 stretches and can realize the rotation of claw in horizontal plane, electromagnet 8 is connected in the inside of sucker disk seat 1.
Further, described sucker disk seat 1 is barrel-shaped, and the upper down journal 11 that periphery is furnished with symmetrical structure connects rotating cylinder 2 for installing, and little journal stirrup 12 connects rotating liquid cylinder pressure 6 for installing.
Further, the outer well surface of described rotating cylinder 2 is provided with little journal stirrup 21 and connects rotating liquid cylinder pressure 6 for being connected and installed.
Further, the ancon of described turning arm 3 is provided with little journal stirrup 32 for connecting claw hydraulic cylinder 4.
Further, described claw 5 is provided with journal stirrup 54 and little journal stirrup 52, and on the same line, journal stirrup 54 is used for connecting turning arm, can realize rotating, little journal stirrup 52 is used for connecting claw hydraulic cylinder 4, is used for realizing rotating.
Further, the cylinder bar of described claw hydraulic cylinder 4 stretches and can realize the upset of claw 5, is convenient to pick and place goods.
Further, the cylinder bar of described rotating liquid cylinder pressure 6 stretches and can realize the rotation of claw 5 in horizontal plane.
Claims (5)
1. the mechanical arm of a hand conjunction finger-type, comprise sucker disk seat, rotating cylinder, turning arm, claw hydraulic cylinder, claw, long pin shaft, rotating liquid cylinder pressure, electromagnet, it is characterized in that, described sucker disk seat is provided with the upper down journal and little journal stirrup that are arranged symmetrically with, by long pin shaft, rotating cylinder is connected between upper down journal, on the hole of rotating cylinder bottom, use pinned connection turning arm, turning arm other end pinned connection is on the hole of claw journal stirrup, the ancon of described turning arm has little journal stirrup small clevis pin with head to connect claw hydraulic cylinder, claw hydraulic cylinder other end small clevis pin with head is connected on the ramuscule earhole of claw, little journal stirrup on rotating cylinder connects rotating liquid cylinder pressure with small clevis pin with head, the rotating liquid cylinder pressure other end is connected on the little journal stirrup on sucker disk seat arc surface, electromagnet is connected in the inside of sucker disk seat.
2. a kind of hand according to claim 1 closes the mechanical arm of finger-type, and it is characterized in that, described sucker disk seat is barrel-shaped, and periphery is furnished with the upper down journal of symmetrical structure and little journal stirrup.
3. a kind of hand according to claim 1 closes the mechanical arm of finger-type, it is characterized in that, the outer well surface of described rotating cylinder is provided with little journal stirrup.
4. a kind of hand according to claim 1 closes the mechanical arm of finger-type, and it is characterized in that, the ancon of described turning arm is provided with little journal stirrup.
5. a kind of hand according to claim 1 closes the mechanical arm of finger-type, it is characterized in that, described claw is provided with journal stirrup and little journal stirrup, and on the same line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510653691.XA CN105108765B (en) | 2015-10-12 | 2015-10-12 | Manipulator capable of simulating finger holding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510653691.XA CN105108765B (en) | 2015-10-12 | 2015-10-12 | Manipulator capable of simulating finger holding |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105108765A true CN105108765A (en) | 2015-12-02 |
| CN105108765B CN105108765B (en) | 2017-01-25 |
Family
ID=54656987
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510653691.XA Expired - Fee Related CN105108765B (en) | 2015-10-12 | 2015-10-12 | Manipulator capable of simulating finger holding |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105108765B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105729497A (en) * | 2016-04-27 | 2016-07-06 | 周杰 | Underwater universal hydraulic bionic mechanical arm |
| CN106113077A (en) * | 2016-07-29 | 2016-11-16 | 苏州高通机械科技有限公司 | A kind of crawl mechanical hand with sub-arm |
| CN108789360A (en) * | 2018-08-30 | 2018-11-13 | 苏州胜璟电磁科技有限公司 | A kind of electromagnet manipulator |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0628530B2 (en) * | 1987-06-13 | 1994-04-20 | 株式会社クボタ | Hand size determination device for fruits and vegetables |
| JPH11333773A (en) * | 1998-05-26 | 1999-12-07 | Nissin Electric Co Ltd | Sucking member of vacuum suction equipment, and its manufacture |
| CN101973036A (en) * | 2010-10-21 | 2011-02-16 | 赵东辉 | Three-jaw grip device |
| CN201863657U (en) * | 2010-11-08 | 2011-06-15 | 大连汉顿工业有限公司 | Novel tire changer manipulator |
| CN202050707U (en) * | 2011-04-27 | 2011-11-30 | 南京工程学院 | End effector of globose fruit picking robot |
| CN203566719U (en) * | 2013-10-31 | 2014-04-30 | 山东航远工业装备股份有限公司 | Clamping jaw mechanism of seabed mechanical hand |
| CN104044154A (en) * | 2014-06-26 | 2014-09-17 | 郭强 | Breakage-proof egg picking-up tongs device |
| CN205201550U (en) * | 2015-10-12 | 2016-05-04 | 王学义 | Hand closes arm of finger formula |
-
2015
- 2015-10-12 CN CN201510653691.XA patent/CN105108765B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0628530B2 (en) * | 1987-06-13 | 1994-04-20 | 株式会社クボタ | Hand size determination device for fruits and vegetables |
| JPH11333773A (en) * | 1998-05-26 | 1999-12-07 | Nissin Electric Co Ltd | Sucking member of vacuum suction equipment, and its manufacture |
| CN101973036A (en) * | 2010-10-21 | 2011-02-16 | 赵东辉 | Three-jaw grip device |
| CN201863657U (en) * | 2010-11-08 | 2011-06-15 | 大连汉顿工业有限公司 | Novel tire changer manipulator |
| CN202050707U (en) * | 2011-04-27 | 2011-11-30 | 南京工程学院 | End effector of globose fruit picking robot |
| CN203566719U (en) * | 2013-10-31 | 2014-04-30 | 山东航远工业装备股份有限公司 | Clamping jaw mechanism of seabed mechanical hand |
| CN104044154A (en) * | 2014-06-26 | 2014-09-17 | 郭强 | Breakage-proof egg picking-up tongs device |
| CN205201550U (en) * | 2015-10-12 | 2016-05-04 | 王学义 | Hand closes arm of finger formula |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105729497A (en) * | 2016-04-27 | 2016-07-06 | 周杰 | Underwater universal hydraulic bionic mechanical arm |
| CN105729497B (en) * | 2016-04-27 | 2017-09-08 | 周杰 | General hydraulic bionic mechanical hand under water |
| CN106113077A (en) * | 2016-07-29 | 2016-11-16 | 苏州高通机械科技有限公司 | A kind of crawl mechanical hand with sub-arm |
| CN108789360A (en) * | 2018-08-30 | 2018-11-13 | 苏州胜璟电磁科技有限公司 | A kind of electromagnet manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105108765B (en) | 2017-01-25 |
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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 | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170125 |