CN105415354B - A kind of elevation and subsidence mechanical hand - Google Patents
A kind of elevation and subsidence mechanical hand Download PDFInfo
- Publication number
- CN105415354B CN105415354B CN201510930795.0A CN201510930795A CN105415354B CN 105415354 B CN105415354 B CN 105415354B CN 201510930795 A CN201510930795 A CN 201510930795A CN 105415354 B CN105415354 B CN 105415354B
- Authority
- CN
- China
- Prior art keywords
- frame
- guide rod
- rod
- bar
- elevation
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/002—Balancing devices using counterweights
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
Abstract
The present invention relates to a kind of elevation and subsidence mechanical hand, it is characterised in that：Including frame, guide rod, fixed pulley, lifting rope, Weight plate, balancing weight, grab frame, parallelogram connection-rod, paw, crawl pressing plate；The axis vertical of guide rod is set, and fixed pulley is arranged in frame, and guide rod is arranged in frame, and the lower end of guide rod, which is fixed, grabs frame, and Weight plate is sleeved on guide rod, and balancing weight is arranged on Weight plate, and lifting rope bypasses fixed pulley and two ends are respectively with Weight plate and grabbing frame and being connected；Grab be provided with frame can vertical movable work bar, the lower section of bar living is provided with two groups of parallelogram connection-rods, the inner side montant upper end connection bar living of two groups of parallelogram connection-rods, and the outside vertical lower end of two groups of parallelogram connection-rods connects paw respectively；Frame is grabbed provided with horizontal concrete chute, paw is arranged in laterally movable mode using chute and grabbed on frame, spring is installed between two paws, crawl pressing plate is fixed on bar living.Simple in construction, low cost of the invention, maintenance maintenance cost is low.
Description
Technical field
The invention belongs to manipulator technical field, more particularly to a kind of elevation and subsidence mechanical hand.
Background technology
At present, the structure of vertical lifting manipulator is generally complex on the market, and cost is high, and maintenance maintenance cost is high.Institute
With, it is necessary to a kind of simple in construction, high elevation and subsidence mechanical hand of automaticity of design.
The content of the invention
The present invention provides a kind of automaticity height to solve technical problem present in known technology, can improve life
Produce the elevation and subsidence mechanical hand of efficiency.
The present invention is adopted the technical scheme that to solve technical problem present in known technology：A kind of elevation and subsidence mechanical
Hand, it is characterised in that：Including frame, guide rod, fixed pulley, lifting rope, Weight plate, balancing weight, grab frame, parallelogram connection-rod, hand
Pawl, crawl pressing plate；The axis vertical of the guide rod is set, and the fixed pulley is arranged in the frame, and the guide rod is with vertical
The mode of activity is arranged in the frame, and frame is grabbed described in the lower end fixation of the guide rod, and the Weight plate is sleeved on described lead
It can move on bar and along the axis of the guide rod, the balancing weight is arranged on the Weight plate, the lifting rope bypasses described
Fixed pulley and two ends are respectively with the Weight plate and grabbing frame and being connected；It is described to grab that be provided with frame vertically movable work bar, institute
The lower section for stating bar living is provided with parallelogram connection-rod described in two groups, and the parallelogram connection-rod is by two cross bars being parallel to each other
Composition is hinged with two montants being parallel to each other, the inner side montant upper end of parallelogram connection-rod described in two groups connects the work
Bar, the outside vertical lower end of parallelogram connection-rod described in two groups connects paw respectively；The frame of grabbing is provided with horizontal concrete chute, institute
State paw to grab on frame installed in described in laterally movable mode using the chute, spring be installed between two paws,
The crawl pressing plate is fixed on the bar living.
The present invention can also use following technical measures：
Including three guide rods.
The lifting rope is steel wire rope.
It is described to grab the lifting pressing plate for grabbing frame side on frame described in fixed stretching.
The present invention has the advantages and positive effects of：
The present invention provides a kind of simple in construction, low cost, the low automatic mechanical hand of maintenance maintenance cost.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
In figure：1st, frame；2nd, guide rod；3rd, fixed pulley；4th, lifting rope；5th, Weight plate；6th, balancing weight；7th, frame is grabbed；8th, parallel four
Side shape connecting rod；9th, paw；10th, pressing plate is captured；11st, bar living；12nd, spring；13rd, pressing plate is lifted.
Embodiment
In order to further understand the content, features and effects of the present invention, hereby enumerating following examples, and coordinate accompanying drawing
Describe in detail as follows：
Referring to Fig. 1, a kind of elevation and subsidence mechanical hand, including frame 1, guide rod 2, fixed pulley 3, lifting rope 4, Weight plate 5, balancing weight
6th, frame 7, parallelogram connection-rod 8, paw 9, crawl pressing plate 10 are grabbed.
The fixed pulley 3 is arranged in the frame 1.
The axis vertical of the guide rod 2 is set, and the guide rod 2 is arranged in the frame 1 in the way of vertical activity.Institute
State and grab frame 7 described in the lower end fixation of guide rod 2.The Weight plate 5 be sleeved on the guide rod 2 and can along the guide rod 2 axle
Line is moved, and the balancing weight 6 is arranged on the Weight plate 5.The lifting rope 4 bypass the fixed pulley 3 and two ends respectively with institute
State Weight plate 5 and grab frame 7 and connect.
The quality of the lower end institute build-up member of guide rod 2 is less than under the quality of Weight plate 5 and balancing weight 6, normality state, Weight plate
5 are close to the top of grabbing frame 7.In the present embodiment, including three guide rods 2.The lifting rope 4 is steel wire rope.
It is described grab be provided with frame 7 can vertical movable work bar 11, the lower section of the bar 11 living described in two groups provided with putting down
Row quadrilateral connecting rod 8, the parallelogram connection-rod 8 is hinged by two cross bars being parallel to each other and two montants being parallel to each other
Constitute.The inner side montant upper end of parallelogram connection-rod 8 described in two groups connects the bar 11 living, and parallelogram described in two groups connects
The outside vertical lower end of bar 8 connects paw 9 respectively.The frame 7 of grabbing is provided with horizontal concrete chute, and the paw 9 utilizes the chute
Grabbed in laterally movable mode installed in described on frame 7, spring 12, the crawl pressing plate 10 are installed between two paws 9
It is fixed on the bar living 11.It is described to grab the lifting pressing plate 13 for grabbing the side of frame 7 on frame 7 described in fixed stretching in the present embodiment.
Method of work：
This manipulator moves laterally to setting position, and using cylinder top pressure buck plate 13, grabbing frame 7 can move down,
Pressing plate 10 is captured using another cylinder top pressure, and the distance between two paws 9 become big to realize that manipulator opens.In the thick stick of cylinder
Under bar retracted state, above-mentioned spring 12 can make the distance between two paws 9 diminish, and realize that manipulator is captured.The weight of balancing weight 6
Amount, which can make, grabs frame 7 and rises, and makes to grab frame 7 and moves up.
Claims (4)
1. a kind of elevation and subsidence mechanical hand, it is characterised in that：Including frame (1), guide rod (2), fixed pulley (3), lifting rope (4), Weight plate
(5), balancing weight (6), grab frame (7), parallelogram connection-rod (8), paw (9), crawl pressing plate (10)；The axle of the guide rod (2)
Line is vertically arranged, and the fixed pulley (3) is arranged in the frame (1), and the guide rod (2) is arranged in the way of vertical activity
On the frame (1), frame (7) is grabbed described in the lower end fixation of the guide rod (2), the Weight plate (5) is sleeved on the guide rod (2)
Go up and can be moved along the axis of the guide rod (2), the balancing weight (6) is arranged on the Weight plate (5), the lifting rope
(4) bypass the fixed pulley (3) and two ends are respectively with the Weight plate (5) and grabbing frame (7) and being connected；Described grab is installed on frame (7)
Have can vertical movable work bar (11), the lower section of the bar (11) living is provided with parallelogram connection-rod (8) described in two groups, described
Parallelogram connection-rod (8) is hinged and constituted by two cross bars being parallel to each other and two montants being parallel to each other, and is put down described in two groups
The inner side montant upper end of row quadrilateral connecting rod (8) connects the bar (11) living, the outside of parallelogram connection-rod (8) described in two groups
Montant lower end connects paw (9) respectively；The frame (7) of grabbing is provided with horizontal concrete chute, and the paw (9) is using the chute with horizontal stroke
Grabbed to the mode of activity installed in described on frame (7), spring (12), the crawl pressing plate are installed between two paws (9)
(10) it is fixed on the bar living (11).
2. elevation and subsidence mechanical hand according to claim 1, it is characterised in that：Including three guide rods (2).
3. elevation and subsidence mechanical hand according to claim 1, it is characterised in that：The lifting rope (4) is steel wire rope.
4. elevation and subsidence mechanical hand according to claim 1, it is characterised in that：Described grab grabs frame on frame (7) described in fixed stretching
(7) the lifting pressing plate (13) of side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510930795.0A CN105415354B (en) | 2015-12-11 | 2015-12-11 | A kind of elevation and subsidence mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510930795.0A CN105415354B (en) | 2015-12-11 | 2015-12-11 | A kind of elevation and subsidence mechanical hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105415354A CN105415354A (en) | 2016-03-23 |
| CN105415354B true CN105415354B (en) | 2017-09-26 |
Family
ID=55494112
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510930795.0A Active CN105415354B (en) | 2015-12-11 | 2015-12-11 | A kind of elevation and subsidence mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105415354B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078807B (en) * | 2016-08-12 | 2020-11-24 | 珠海格力智能装备有限公司 | Weight bearing assembly and robot with same |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104084949A (en) * | 2014-06-30 | 2014-10-08 | 梧州学院 | Novel mechanical arm |
| CN104690710A (en) * | 2015-03-06 | 2015-06-10 | 合肥工业大学 | Electro-hydraulic combination driven movable mechanical arm |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3618075A1 (en) * | 1986-05-29 | 1987-12-03 | Mannesmann Ag | SUPPORT OF A CARRIER |
| JPH05111884A (en) * | 1991-10-21 | 1993-05-07 | Matsushita Electric Ind Co Ltd | Transfer device |
| CN101509055B (en) * | 2009-03-20 | 2010-09-15 | 天津市鼎元工业炉新技术开发有限公司 | Press quenching mechanical arm apparatus |
| CN102229144A (en) * | 2011-06-15 | 2011-11-02 | 哈尔滨工程大学 | Self-locking manipulator with flexible deformation performance |
| CN203438248U (en) * | 2013-09-12 | 2014-02-19 | 赵忠兴 | Bidirectional action type spring balancer |
-
2015
- 2015-12-11 CN CN201510930795.0A patent/CN105415354B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104084949A (en) * | 2014-06-30 | 2014-10-08 | 梧州学院 | Novel mechanical arm |
| CN104690710A (en) * | 2015-03-06 | 2015-06-10 | 合肥工业大学 | Electro-hydraulic combination driven movable mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105415354A (en) | 2016-03-23 |
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| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder |
Address after: 300457 Tianjin Binhai New Area Tianjin Economic and Technological Development Zone Nanhai Road 156 Tongchang 29 plant 01 Patentee after: CHENXING (TIANJIN) AUTOMATION EQUIPMENT CO.,LTD. Address before: No. 9, Tianrui Road, auto parts Industrial Park, Wuqing District, Tianjin 301700 Patentee before: CHENXING (TIANJIN) AUTOMATION EQUIPMENT CO.,LTD. |
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| CP02 | Change in the address of a patent holder |