CN106113076A - A kind of arm end performs device - Google Patents
A kind of arm end performs device Download PDFInfo
- Publication number
- CN106113076A CN106113076A CN201610709784.4A CN201610709784A CN106113076A CN 106113076 A CN106113076 A CN 106113076A CN 201610709784 A CN201610709784 A CN 201610709784A CN 106113076 A CN106113076 A CN 106113076A
- Authority
- CN
- China
- Prior art keywords
- bearing
- connecting plate
- flange
- steering wheel
- fixing
- 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.)
- Pending
Links
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
- B25J15/08—Gripping heads and other end effectors having finger members
-
- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Abstract
The invention belongs to mechanical hand technical field, relate to a kind of arm end and perform device.Including flange fixed plate, steering wheel, bearing block, connecting plate one, flange bearing, fixing axle, connecting plate two, finger, rubber cushion.The present invention uses the mode of the direct drivening rod of steering wheel, directly drives finger movement, and transmission efficiency is high.Have employed swinging open-close ways and but can reach the folding size of parallel-moving type paw, under formed objects active force, attached weight can be grabbed bigger.
Description
Technical field
The invention belongs to mechanical hand technical field, relate to a kind of arm end and perform device, class belongs to rotary type clamping
Class paw.
Background technology
End effector, is also called end-effector, end effector hands, otherwise referred to as hand, paw, mechanical hand etc..
The major function of robot is exactly to capture article with " paw ", and operates it.End effector is installed in robot behaviour
Make on the mechanical interface of machine, be used for making robot to fulfil assignment task and custom-designed device.
Clamp-type paw (or claiming clamper) is that current most widely used a kind of arm end performs device.It both may be used
Outside with the medial surface clamping article referred to, it is possible to after finger being extend in the hole of article, spread one's fingers, block with lateral surface
Object.Clamp-type paw majority is oppositely disposed into two fingers, or being separated by 120 ° is configured to three fingers.Wherein return
Transition, paw developed into the present, and technology is the most ripe, and relatively common has pinion and-rack, wedge lever and connecting rod lever
Formula.The paw of these several structures is with conspicuous characteristics, with the obvious advantage, but also has more significantly shortcoming.Pinion and-rack structure is complicated,
Transmission efficiency is relatively low；Wedge lever transmission efficiency is low, and control accuracy is poor；Connecting rod lever can holding capacity by the shadow of structure size
Ringing relatively big, big holding capacity needs large scale to support,
Analyze the above-mentioned prior art mentioned to have the following disadvantages, i.e. the technical problem to be solved:
(1) structure is complicated, and transmission efficiency is low;
(2) clamping folding angle is little, and apparent size is big.
Summary of the invention
It is an object of the invention to overcome defect present in prior art, relate to a kind of arm end and perform device.
Using the mode of the direct drivening rod of steering wheel, directly drive finger movement, transmission efficiency is high.Have employed swinging open-close ways but
The folding size of parallel-moving type paw can be reached, under formed objects active force, attached weight can be grabbed bigger.
To achieve these goals, technical scheme relates to a kind of arm end execution device, including flange
Fixed plate (401), steering wheel (402), bearing block (403), connecting plate one (404), flange bearing (405), fixing axle (406), company
Fishplate bar two (407), finger (408), rubber cushion (409).
Wherein, described flange fixed plate (401) is sheet metal component, is used for fixing steering wheel, simultaneously as the company of hand Yu wrist
The mechanical interface connect, totally 1；Steering wheel (402) is standard component, and motor shaft has ring flange, totally 2；Bearing block (403) is while having
Fixing hole, has a bearing placement hole, totally 2；Connecting plate one (404) has fixing hole, has 4；Flange bearing (405) is
Standard component, totally 12；Fixing axle (406) is multidiameter, totally 12；Connecting plate two (407) has fixing hole, has 4；Finger
(408) there is a bearing fixing hole at two, totally 2；Rubber cushion (409) totally 2.
Its annexation is: described steering wheel (402) is fixed in flange fixed plate (401), connecting plate two (407)
End is fixed on steering wheel (402) ring flange, a fixing axle (406) is fixed with connecting plate two (407), and other end is mated
Flange bearing (405), flange bearing (405) is fixed on (408) bearing fixing holes of finger, finger (408) another one
Bearing fixing hole mounting flange bearing (405) in the manner described above and fixing axle (406), fixing axle (406) connects connecting plate one
(404) one end, connecting plate one (404) other end is fixed another one and is fixed axle (406), fixes axle (406) and passes through flange shaft
Holding (405) to be installed on bearing block (403), bearing block (403) is fixed with steering wheel (402).
Advantages of the present invention and having the beneficial effects that: the present invention uses the mode of the direct drivening rod of steering wheel, directly
Driving finger movement, transmission efficiency is high.Have employed swinging open-close ways and but can reach the folding size of parallel-moving type paw, folding
Size is big, under formed objects active force, can grab attached weight bigger.
Accompanying drawing explanation
Fig. 1 is that arm end of the present invention performs device schematic diagram；
Fig. 2 is flange fixed plate structure schematic diagram of the present invention；
Fig. 3 is bearing block structure schematic diagram of the present invention；
Fig. 4 is connecting plate one structural representation of the present invention；
Fig. 5 is fixed axle structure schematic diagram of the present invention；
Fig. 6 is connecting plate two structural representation of the present invention；
Fig. 7 is finger structure schematic diagram of the present invention.
Wherein, 401-flange fixed plate, 402-steering wheel, 403-bearing block, 404-connecting plate one, 405-flange bearing,
406-fixes axle, 407-connecting plate two, 408-finger, 409-rubber cushion.
Detailed description of the invention
Being further described the detailed description of the invention of the present invention with embodiment below in conjunction with the accompanying drawings, following example are only used
In technical scheme is clearly described, and can not limit the scope of the invention with this.
As shown in Fig. 1-Fig. 7, technical scheme relates to a kind of arm end and performs device, flange fixed plate
(401), steering wheel (402), bearing block (403), connecting plate one (404), flange bearing (405), fixing axle (406), connecting plate two
(407), finger (408), rubber cushion (409).
Wherein, described flange fixed plate (401) is sheet metal component, is used for fixing steering wheel, simultaneously as the company of hand Yu wrist
The mechanical interface connect, totally 1；Steering wheel (402) is standard component, and motor shaft has ring flange, totally 2；Bearing block (403) is while having
Fixing hole, has a bearing placement hole, totally 2；Connecting plate one (404) has fixing hole, has 4；Flange bearing (405) is
Standard component, totally 12；Fixing axle (406) is multidiameter, totally 12；Connecting plate two (407) has fixing hole, has 4；Finger
(408) there is a bearing fixing hole at two, totally 2；Rubber cushion (409) totally 2.
Its annexation is: described steering wheel (402) is fixed in flange fixed plate (401), connecting plate two (407)
End is fixed on steering wheel (402) ring flange, a fixing axle (406) is fixed with connecting plate two (407), and other end is mated
Flange bearing (405), flange bearing (405) is fixed on (408) bearing fixing holes of finger, finger (408) another one
Bearing fixing hole mounting flange bearing (405) in the manner described above and fixing axle (406), fixing axle (406) connects connecting plate one
(404) one end, connecting plate one (404) other end is fixed another one and is fixed axle (406), fixes axle (406) and passes through flange shaft
Holding (405) to be installed on bearing block (403), bearing block (403) is fixed with steering wheel (402).
The above is only the preferred embodiments of the present invention, it is noted that for the ordinary skill people of the art
For Yuan, on the premise of without departing from the technology of the present invention principle, it is also possible to make some improvements and modifications, these improvements and modifications
Also should be regarded as protection scope of the present invention.
Claims (4)
1. an arm end performs device, it is characterised in that: flange fixed plate (401), steering wheel (402), bearing block
(403), connecting plate one (404), flange bearing (405), fixing axle (406), connecting plate two (407), finger (408), rubber cushion
(409)；
Wherein, described flange fixed plate (401) is sheet metal component, is used for fixing steering wheel, simultaneously as the connection of hand and wrist
Mechanical interface, totally 1；Steering wheel (402) is standard component, and motor shaft has ring flange, totally 2；Bearing block (403) is while having fixing
, there is a bearing placement hole in hole, totally 2；Connecting plate one (404) has fixing hole, has 4；Flange bearing (405) is standard
Part, totally 12；Fixing axle (406) is multidiameter, totally 12；Connecting plate two (407) has fixing hole, has 4；Finger
(408) there is a bearing fixing hole at two, totally 2；Rubber cushion (409) totally 2.
A kind of arm end the most according to claim 1 performs device, it is characterised in that: its annexation is described
Steering wheel (402) is fixed in flange fixed plate (401), and connecting plate two (407) one end is fixed on steering wheel (402) ring flange, will
One fixing axle (406) fixes with connecting plate two (407), other end coupling flange bearing (405), flange bearing (405)
It is fixed on (408) bearing fixing holes of finger, finger (408) another one bearing fixing hole fixation in the manner described above
Blue bearing (405) and fixing axle (406), fixing axle (406) connects connecting plate one (404) one end, connecting plate one (404) other
The fixing another one of end fixes axle (406), and fixing axle (406) is installed on bearing block (403) by flange bearing (405), axle
Bearing (403) is fixed with steering wheel (402).
A kind of arm end the most according to claim 1 and 2 performs device, it is characterised in that: use steering wheel (402) straight
Connecing drive connection plate two (407), drive finger (408) action, transmission efficiency is high, and folding size is big.
A kind of arm end the most according to claim 1 and 2 performs device, it is characterised in that: this device have employed a left side
Right symmetry, laterally zygomorphic structure designs, and component universality is strong, has interchangeability.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610709784.4A CN106113076A (en) | 2016-08-24 | 2016-08-24 | A kind of arm end performs device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610709784.4A CN106113076A (en) | 2016-08-24 | 2016-08-24 | A kind of arm end performs device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106113076A true CN106113076A (en) | 2016-11-16 |
Family
ID=57275621
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610709784.4A Pending CN106113076A (en) | 2016-08-24 | 2016-08-24 | A kind of arm end performs device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106113076A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103433929A (en) * | 2013-06-03 | 2013-12-11 | 浙江大学 | Two-finger translation mechanical arm |
| CN104760051A (en) * | 2015-04-08 | 2015-07-08 | 杭州南江机器人股份有限公司 | Two-finger manipulator with pneumatic chuck and clamping air bag |
| CN105364925A (en) * | 2015-11-25 | 2016-03-02 | 长春理工大学 | Servo driving-based high-voltage electricity transmission line patrol and operation robot arm |
| CN205380664U (en) * | 2015-12-19 | 2016-07-13 | 华南理工大学广州学院 | Industrial mechanical arm |
| CN205989338U (en) * | 2016-08-24 | 2017-03-01 | 北京灵铱科技有限公司 | A kind of arm end performs device |
-
2016
- 2016-08-24 CN CN201610709784.4A patent/CN106113076A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103433929A (en) * | 2013-06-03 | 2013-12-11 | 浙江大学 | Two-finger translation mechanical arm |
| CN104760051A (en) * | 2015-04-08 | 2015-07-08 | 杭州南江机器人股份有限公司 | Two-finger manipulator with pneumatic chuck and clamping air bag |
| CN105364925A (en) * | 2015-11-25 | 2016-03-02 | 长春理工大学 | Servo driving-based high-voltage electricity transmission line patrol and operation robot arm |
| CN205380664U (en) * | 2015-12-19 | 2016-07-13 | 华南理工大学广州学院 | Industrial mechanical arm |
| CN205989338U (en) * | 2016-08-24 | 2017-03-01 | 北京灵铱科技有限公司 | A kind of arm end performs device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20161116 |
|
| WD01 | Invention patent application deemed withdrawn after publication |