CN105773645B - Structure improved clamping jaw on a kind of mechanical arm - Google Patents
Structure improved clamping jaw on a kind of mechanical arm Download PDFInfo
- Publication number
- CN105773645B CN105773645B CN201610266269.3A CN201610266269A CN105773645B CN 105773645 B CN105773645 B CN 105773645B CN 201610266269 A CN201610266269 A CN 201610266269A CN 105773645 B CN105773645 B CN 105773645B
- Authority
- CN
- China
- Prior art keywords
- clamping jaw
- bar
- hinged
- connecting rod
- positioning disk
- 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.)
- Withdrawn - After Issue
Links
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
Abstract
The invention discloses structure improved clamping jaw on a kind of mechanical arm, contiguous block is formed in the middle part of its positioning disk upper surface, into there are some hinged seats on the outside of positioning disk, clamping jaw bar is hinged with by jointed shaft on hinged seat, clamping jaw bar is made up of two connecting rods, connecting rod is fixed between two connecting rods of clamping jaw bar, bearing is formed in connecting rod, drive rod is hinged with bearing, drive rod is be hinged on the driving shaft, drive shaft is plugged on positioning disk, it is characterised in that:The end of clamping jaw bar is hinged with buffer bar by jointed shaft, one end of buffer bar forms the clamping jaw head of circle, several salient points are formed on the outer wall of clamping jaw head, journal stirrup is formed on the lateral wall of the clamping jaw bar connecting rod, buffer bar is plugged between the journal stirrup of clamping jaw bar and is resisted against on lever.The present invention can be reduced leaves impression on product, reduces the influence to product quality.
Description
Technical field：
The present invention relates to the technical field of manipulator, more specifically to structure improved folder on a kind of mechanical arm
Pawl.
Background technology：
Manipulator is a kind of common robot, at present in some industrial processes, in order to improve production efficiency, is realized
Automated production, manual operations is replaced using manipulator, and it is a conventional action to capture, it on manipulator by installing
Clamping jaw realizes crawl process, and manipulator can not be such as the dynamics of the identically controlled crawl of the mankind, and the dynamics of its clamping jaw control is one
Fixed, so as to often leave more obvious impression on the product of some crawls, influence the quality of product.
The content of the invention：
The purpose of the present invention and provides structure improved folder on a kind of mechanical arm aiming at the deficiency of prior art
Pawl, it can reduce and impression is left on product, reduce the influence to product quality.
Structure improved clamping jaw on a kind of mechanical arm, including positioning disk, connection is formed in the middle part of positioning disk upper surface
Block, forms some hinged seats on the outside of positioning disk, is hinged with clamping jaw bar by jointed shaft on hinged seat, clamping jaw bar is by two
Connecting rod forms, and is fixed with connecting rod between two connecting rods of clamping jaw bar, bearing is formed in connecting rod, driving is hinged with bearing
Bar, drive rod is be hinged on the driving shaft, and drive shaft is plugged on positioning disk, it is characterised in that:The end of clamping jaw bar passes through be hinged
Axle is hinged with buffer bar, and one end of buffer bar forms the clamping jaw head of circle, several salient points are formed on the outer wall of clamping jaw head,
Journal stirrup is formed on the lateral wall of the clamping jaw bar connecting rod, buffer bar is plugged between the journal stirrup of clamping jaw bar and is resisted against lever
On.
It is molded fluted on the lateral wall of the connecting rod, stage clip is plugged with groove, stage clip is pressed against on buffer bar.
The groove of the connecting rod is located between end and the journal stirrup of clamping jaw bar.
The thickness of the buffer bar is not more than the thickness of connecting rod.
At least provided with 3 groups, clamping jaw bar circularizes to be evenly distributed on positioning disk described clamping jaw bar.
The beneficial effects of the present invention are：It is provided with the clamping jaw head of cushioning effect on the head of clamping jaw claw bar, so as to
To reduce dynamics during clamping jaw crawl product, then reduce and impression is left on product, reduce the influence to product quality.
Brief description of the drawings：
Fig. 1 is the three-dimensional structural representation of the present invention；
Fig. 2 is the structural representation that the present invention faces；
Fig. 3 is the schematic cross-sectional view of present invention buffering bar part.
In figure：1st, positioning disk；11st, contiguous block；12nd, hinged seat；2nd, drive shaft；3rd, clamping jaw bar；31st, journal stirrup；4th, connecting rod；
41st, bearing；42nd, groove；5th, drive rod；6th, buffer bar；61st, clamping jaw head；611st, salient point；7th, lever；8th, stage clip.
Embodiment：
Embodiment：As shown in Fig. 1 to 3, structure improved clamping jaw on a kind of mechanical arm, including positioning disk 1, positioning disk 1
Contiguous block 11 is formed in the middle part of upper surface, some hinged seats 12 are formed on the outside of positioning disk 1, pass through hinge on hinged seat 12
Spindle is hinged with clamping jaw bar 3, and clamping jaw bar 3 is made up of two connecting rods, and connecting rod 4 is fixed between two connecting rods of clamping jaw bar 3, even
Bearing 41 is formed on extension bar 4, drive rod 5 is hinged with bearing 41, drive rod 5 is be hinged on driving shaft 2, the grafting of drive shaft 2
On positioning disk 1, it is characterised in that:The end of clamping jaw bar 3 is hinged with buffer bar 6, one end shaping of buffer bar 6 by jointed shaft
There is the clamping jaw first 61 of circle, several salient points 611, the lateral wall of the connecting rod of clamping jaw bar 3 are formed on the outer wall of clamping jaw first 61
On form journal stirrup 31, buffer bar 6 is plugged between the journal stirrup 31 of clamping jaw bar 3 and is resisted against on lever 7, described connecting rod 4
Lateral wall on be molded fluted 42, stage clip 8 is plugged with groove 42, stage clip 8 is pressed against on buffer bar 6.
The groove 42 of the connecting rod 4 is located between end and the journal stirrup 31 of clamping jaw bar 3.
The thickness of the buffer bar 6 is not more than the thickness of connecting rod 4.
At least provided with 3 groups, clamping jaw bar 3 circularizes to be evenly distributed on positioning disk 1 described clamping jaw bar 3.
Operation principle：The present invention for robot manipulator structure improvement clamping jaw, in the end of clamping jaw bar 3 on the basis of its existing clamping jaw
Clamping jaw with cushioning effect first 61 is installed, so as to reduce the impression left during clamping jaw crawl product in product；Its clamping jaw first 61
Cushioning effect derives from buffer bar 6 and stage clip 8, and during crawl, its elastic compression of stage clip 8, its clamping jaw first 61 will not be pressed into production
Inside product, but it is clamped in the outer wall of product, is extracted product by frictional force.
Claims (5)
1. structure improved clamping jaw on a kind of mechanical arm, including positioning disk (1), it is characterised in that:Positioning disk (1) upper surface
Middle part forms contiguous block (11), and some hinged seats (12) are formed on the outside of positioning disk (1), and hinged seat passes through hinge on (12)
Spindle is hinged with clamping jaw bar (3), and clamping jaw bar (3) is made up of two connecting rods, and connection is fixed between two connecting rods of clamping jaw bar (3)
Bar (4), bearing (41) is formed in connecting rod (4), drive rod (5) is hinged with bearing (41), drive rod (5) is hinged on driving
On axle (2), drive shaft (2) is plugged on positioning disk (1), and the end of clamping jaw bar (3) is hinged with buffer bar (6) by jointed shaft,
One end of buffer bar (6) forms the clamping jaw head (61) of circle, and several salient points are formed on the outer wall of clamping jaw head (61)
(611) journal stirrup (31), is formed on the lateral wall of clamping jaw bar (3) connecting rod, buffer bar (6) is plugged on the branch of clamping jaw bar (3)
Between ear (31) and it is resisted against on lever (7).
2. structure improved clamping jaw on a kind of mechanical arm according to claim 1, it is characterised in that：The connecting rod
(4) it is molded on lateral wall fluted (42), is plugged with stage clip (8) in groove (42), stage clip (8) is pressed against on buffer bar (6).
3. structure improved clamping jaw on a kind of mechanical arm according to claim 1, it is characterised in that：The connecting rod
(4) groove (42) is located between the end of clamping jaw bar (3) and journal stirrup (31).
4. structure improved clamping jaw on a kind of mechanical arm according to claim 1, it is characterised in that：The buffer bar
(6) thickness is not more than the thickness of connecting rod (4).
5. structure improved clamping jaw on a kind of mechanical arm according to claim 1, it is characterised in that：Described clamping jaw bar
(3) at least provided with 3 groups, clamping jaw bar (3), which circularizes, to be evenly distributed on positioning disk (1).
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 CN105773645A (en) | 2016-07-20 |
| CN105773645B true CN105773645B (en) | 2018-01-09 |
Family
ID=56399604
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610266269.3A Withdrawn - After Issue 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) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108466726B (en) * | 2018-04-04 | 2024-01-23 | 烟台梦现自动化设备有限公司 | Bagging device for fruit net bags |
| CN108327995B (en) * | 2018-04-04 | 2024-01-16 | 烟台梦现自动化设备有限公司 | Fruit mesh bag opening mechanism and assembly thereof |
| CN108454966B (en) * | 2018-04-04 | 2024-01-23 | 烟台梦现自动化设备有限公司 | Fruit mesh bag supporting and conveying system |
| CN108454967B (en) * | 2018-04-11 | 2024-01-23 | 烟台梦现自动化设备有限公司 | Bagging device for fruit bagging net bag |
| CN108482730B (en) * | 2018-04-28 | 2024-01-23 | 烟台梦现自动化设备有限公司 | Full-automatic fruit mesh bag bagging system |
| CN110587637A (en) * | 2019-09-19 | 2019-12-20 | 于丹 | Manipulator clamping device capable of being telescopically adjusted |
Family Cites Families (5)
| 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 |
-
2016
- 2016-04-26 CN CN201610266269.3A patent/CN105773645B/en not_active Withdrawn - After Issue
Also Published As
| Publication number | Publication date |
|---|---|
| CN105773645A (en) | 2016-07-20 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Xu Kaidong Inventor after: Chen Lu Inventor after: Ai Erbotefeier Inventor after: Ba Kelaluofu 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 INSTRUMMENTS Co.,Ltd. Address before: 523000 productivity building, Songshan hi tech Industrial Zone, Dongguan, Guangdong 406 Applicant before: Dongguan Lianzhou Intellectual Property Operation Management Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 221300 No.8, Liaohe West Road, Pizhou Economic Development Zone, Xuzhou City, Jiangsu Province Patentee after: Jiangsu Luwen Instrument Co.,Ltd. Address before: 221300 No.8, Liaohe West Road, Pizhou Economic Development Zone, Xuzhou City, Jiangsu Province Patentee before: JIANGSU LEUVEN INSTRUMMENTS Co.,Ltd. |
|
| CP03 | Change of name, title or address | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180109 Effective date of abandoning: 20230505 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20180109 Effective date of abandoning: 20230505 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |