CN105773645A - Structure improved claw on mechanical arm - Google Patents

Structure improved claw on mechanical arm Download PDF

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Publication number
CN105773645A
CN105773645A CN201610266269.3A CN201610266269A CN105773645A CN 105773645 A CN105773645 A CN 105773645A CN 201610266269 A CN201610266269 A CN 201610266269A CN 105773645 A CN105773645 A CN 105773645A
Authority
CN
China
Prior art keywords
jaw
bar
rod
rods
claw
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
Application number
CN201610266269.3A
Other languages
Chinese (zh)
Other versions
CN105773645B (en
Inventor
王文庆
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
JIANGSU LEUVEN INSTRUMENTS CO., LTD.
Original Assignee
Dongguan Lianzhou Intellectual Property Operation and Management Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Dongguan Lianzhou Intellectual Property Operation and Management Co Ltd filed Critical Dongguan Lianzhou Intellectual Property Operation and Management Co Ltd
Priority to CN201610266269.3A priority Critical patent/CN105773645B/en
Publication of CN105773645A publication Critical patent/CN105773645A/en
Application granted granted Critical
Publication of CN105773645B publication Critical patent/CN105773645B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0033Gripping heads and other end effectors with gripping surfaces having special shapes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/02Gripping heads and other end effectors servo-actuated
    • B25J15/0206Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/022Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links

Abstract

The invention discloses a structure improved claw on a mechanical arm. A connecting block is formed in the middle of the upper end face of a locating disc of the claw, and a plurality of hinge seats are formed on the outer edge of the locating disc. Claw rods are hinged to the hinge seats through hinge shafts. Each claw rod is composed of two connecting rods. A connecting rod is fixed between the two connecting rods of each claw rod. Supports are formed on the connecting rods. Driving rods are hinged to the supports and hinged to a driving shaft. The driving shaft is inserted into the locating disc. The structure improved claw is characterized in that buffer rods are hinged to the tail ends of the claw rods through hinge shafts, a round claw head is formed at one end of each buffer rod, a plurality of protrusions are formed on the outer walls of the claw heads, supporting lugs are formed on the outer side walls of the connecting rods of the claw rods, and the buffer rods are inserted between the supporting lugs of the claw rods and abut against gear levers. According to the structure improved claw, pressing marks left on products can be reduced, and influences on the quality of the products can be reduced.

Description

Structure improved jaw on a kind of mechanical arm
Technical field:
The present invention relates to the technical field of mechanical hand, more specifically to structure improved jaw on a kind of mechanical arm.
Background technology:
Mechanical hand is common a kind of robot, in some industrial processes at present, in order to improve production efficiency, it is achieved automated production, mechanical hand is adopted to replace manual operations, and capturing is a conventional action, it realizes crawl process by installing jaw on mechanical hand, and mechanical hand cannot the dynamics of crawl as identically controlled in the mankind, the dynamics that its jaw controls is certain, thus the product of often some crawls stays comparatively significantly impression, affect the quality of product.
Summary of the invention:
The purpose of the present invention is aiming at the deficiency of prior art, and provides structure improved jaw on a kind of mechanical arm, and it can reduce and leaves impression on product, reduces the impact on product quality.
Structure improved jaw on a kind of mechanical arm, including location dish, the middle part of dish upper surface, location forms contiguous block, the outside of location dish becomes and has some hinged seats, hinged seat is hinged with jaw bar by jointed shaft, jaw bar is made up of two connecting rods, it is fixed with connecting rod between two connecting rods of jaw bar, connecting rod forms bearing, bearing is hinged with drive rod, drive rod is hinged on the driving shaft, axle is driven to be plugged on the dish of location, it is characterized in that: the end of jaw bar is hinged with buffer bar by jointed shaft, one end of buffer bar forms the jaw head of circle, the outer wall of jaw head forms several salient points, the lateral wall of described jaw bar connecting rod forms journal stirrup, buffer bar is plugged between the journal stirrup of jaw bar and is resisted against on lever.
Forming groove on the lateral wall of described connecting rod, be plugged with stage clip in groove, stage clip is pressed against on buffer bar.
The groove of described connecting rod is between the end and journal stirrup of jaw bar.
The thickness of described buffer bar is not more than the thickness of connecting rod.
Described jaw bar is at least provided with 3 groups, and jaw bar circularizes and is evenly distributed on the dish of location.
The beneficial effects of the present invention is: it is provided with the jaw head of cushioning effect at the head of jaw claw bar, such that it is able to reduce dynamics when jaw captures product, then reduce on product, leave impression, reduce the impact on product quality.
Accompanying drawing illustrates:
Fig. 1 is the structural representation that invention is three-dimensional;
Fig. 2 is the structural representation that invention is faced;
Fig. 3 is the cross-sectional schematic of invention buffer bar part.
In figure: 1, location dish;11, contiguous block;12, hinged seat;2, axle is driven;3, jaw bar;31, journal stirrup;4, connecting rod;41, bearing;42, groove;5, drive rod;6, buffer bar;61, jaw head;611, salient point;7, lever;8, stage clip.
Detailed description of the invention:
nullEmbodiment: see that Fig. 1 is to shown in 3,Structure improved jaw on a kind of mechanical arm,Including location dish 1,The middle part of location dish 1 upper surface forms contiguous block 11,The outside of location dish 1 becomes and has some hinged seats 12,Hinged seat 12 is hinged with jaw bar 3 by jointed shaft,Jaw bar 3 is made up of two connecting rods,It is fixed with connecting rod 4 between two connecting rods of jaw bar 3,Connecting rod 4 forms bearing 41,Bearing 41 is hinged with drive rod 5,Drive rod 5 is hinged on driving shaft 2,Axle 2 is driven to be plugged on location dish 1,It is characterized in that: the end of jaw bar 3 is hinged with buffer bar 6 by jointed shaft,One end of buffer bar 6 forms the jaw head 61 of circle,The outer wall of jaw head 61 forms several salient points 611,The lateral wall of described jaw bar 3 connecting rod forms journal stirrup 31,Buffer bar 6 is plugged between the journal stirrup 31 of jaw bar 3 and is resisted against on lever 7,The lateral wall of described connecting rod 4 forms groove 42,Stage clip 8 it is plugged with in groove 42,Stage clip 8 is pressed against on buffer bar 6.
The groove 42 of described connecting rod 4 is between the end and journal stirrup 31 of jaw bar 3.
The thickness of described buffer bar 6 is not more than the thickness of connecting rod 4.
Described jaw bar 3 is at least provided with 3 groups, and jaw bar 3 circularizes and is evenly distributed on location dish 1.
Operation principle: the present invention is the jaw of robot manipulator structure improvement, the jaw head 61 with cushioning effect is installed at jaw bar 3 end in the basis of its existing jaw, thus reducing the impression stayed when jaw captures product at product;The cushioning effect of its jaw head 61 derives from buffer bar 6 and stage clip 8, and in crawl process, its stage clip 8 elastic compression, its jaw head 61 will not be pressed into interiors of products, but is clamped in the outer wall of product, is extracted by product by frictional force.

Claims (5)

  1. null1. structure improved jaw on a mechanical arm,Including location dish (1),It is characterized in that: the middle part of location dish (1) upper surface forms contiguous block (11),The outside of location dish (1) becomes to have some hinged seats (12),Hinged seat (12) is hinged with jaw bar (3) by jointed shaft,Jaw bar (3) is made up of two connecting rods,It is fixed with connecting rod (4) between two connecting rods of jaw bar (3),Connecting rod (4) forms bearing (41),Bearing (41) is hinged with drive rod (5),Drive rod (5) is hinged in driving axle (2),Axle (2) is driven to be plugged on location dish (1),The end of jaw bar (3) is hinged with buffer bar (6) by jointed shaft,One end of buffer bar (6) forms the jaw head (61) of circle,The outer wall of jaw head (61) forms several salient points (611),The lateral wall of described jaw bar (3) connecting rod forms journal stirrup (31),Buffer bar (6) is plugged between the journal stirrup (31) of jaw bar (3) and is resisted against on lever (7).
  2. 2. structure improved jaw on a kind of mechanical arm according to claim 1, it is characterized in that: the lateral wall of described connecting rod (4) forms groove (42), being plugged with stage clip (8) in groove (42), stage clip (8) is pressed against on buffer bar (6).
  3. 3. structure improved jaw on a kind of mechanical arm according to claim 1, it is characterised in that: the groove (42) of described connecting rod (4) is positioned between the end of jaw bar (3) and journal stirrup (31).
  4. 4. structure improved jaw on a kind of mechanical arm according to claim 1, it is characterised in that: the thickness of described buffer bar (6) is not more than the thickness of connecting rod (4).
  5. 5. structure improved jaw on a kind of mechanical arm according to claim 1, it is characterised in that: described jaw bar (3) is at least provided with 3 groups, and jaw bar (3) circularizes and is evenly distributed on location dish (1).
CN201610266269.3A 2016-04-26 2016-04-26 Structure improved clamping jaw on a kind of mechanical arm Active CN105773645B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610266269.3A CN105773645B (en) 2016-04-26 2016-04-26 Structure improved clamping jaw on a kind of mechanical arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610266269.3A CN105773645B (en) 2016-04-26 2016-04-26 Structure improved clamping jaw on a kind of mechanical arm

Publications (2)

Publication Number Publication Date
CN105773645A true CN105773645A (en) 2016-07-20
CN105773645B CN105773645B (en) 2018-01-09

Family

ID=56399604

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610266269.3A Active CN105773645B (en) 2016-04-26 2016-04-26 Structure improved clamping jaw on a kind of mechanical arm

Country Status (1)

Country Link
CN (1) CN105773645B (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20040100442A (en) * 2003-05-23 2004-12-02 사단법인 고등기술연구원 연구조합 Gripper controlling gripping force
CN203557396U (en) * 2013-09-18 2014-04-23 中国电器科学研究院有限公司 Mechanical paw
CN203738810U (en) * 2014-03-04 2014-07-30 重庆交通大学 Variable-configuration multi-capturing-state mechanical hand claw
CN203792351U (en) * 2014-04-24 2014-08-27 安徽工程大学 Robot gripping device
CN204673621U (en) * 2015-05-24 2015-09-30 虞王君 A kind of shock-absorbing type gripper

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20040100442A (en) * 2003-05-23 2004-12-02 사단법인 고등기술연구원 연구조합 Gripper controlling gripping force
CN203557396U (en) * 2013-09-18 2014-04-23 中国电器科学研究院有限公司 Mechanical paw
CN203738810U (en) * 2014-03-04 2014-07-30 重庆交通大学 Variable-configuration multi-capturing-state mechanical hand claw
CN203792351U (en) * 2014-04-24 2014-08-27 安徽工程大学 Robot gripping device
CN204673621U (en) * 2015-05-24 2015-09-30 虞王君 A kind of shock-absorbing type gripper

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Publication number Publication date
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C10 Entry into substantive examination
CB03 Change of inventor or designer information

Inventor after: Xu Kaidong

Inventor after: Chen Lu

Inventor after: Albert Phil

Inventor after: Barkla Love

Inventor before: Wang Wenqing

CB03 Change of inventor or designer information
TA01 Transfer of patent application right

Effective date of registration: 20171113

Address after: 221300 Pizhou Economic Development Zone, Jiangsu, Liaohe West Road, No. 8, No.

Applicant after: JIANGSU LEUVEN INSTRUMENTS CO., LTD.

Address before: 523000 productivity building, Songshan hi tech Industrial Zone, Dongguan, Guangdong 406

Applicant before: DONGGUAN LIANZHOU INTELLECTUAL PROPERTY OPERATION AND MANAGEMENT CO., LTD.

TA01 Transfer of patent application right
GR01 Patent grant
GR01 Patent grant