CN106335072A - A combination of manipulator - Google Patents
A combination of manipulator Download PDFInfo
- Publication number
- CN106335072A CN106335072A CN201611014340.5A CN201611014340A CN106335072A CN 106335072 A CN106335072 A CN 106335072A CN 201611014340 A CN201611014340 A CN 201611014340A CN 106335072 A CN106335072 A CN 106335072A
- Authority
- CN
- China
- Prior art keywords
- mechanical hand
- gripper
- fixedly connected
- guide rail
- groove
- 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
-
- 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
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
Abstract
The invention discloses a complicated manipulator, which comprises a guide rail. The bottom of the guide rail is provided with a first hydraulic device and a second hydraulic device. The first hydraulic device is fixedly connected with the left arm by a first hydraulic telescopic rod. The second hydraulic device is fixedly connected with the right manipulator through a second hydraulic telescopic rod. The top of the left hand is provided with a first connecting rod, and the first connecting rod is slidably connected with the guide rail through a first pulley. In that manipulator, the squeeze force of the manipulator is automatically adjusted by the first hydraulic device, the second hydraulic device, the first hydraulic telescopic rod, the second hydraulic telescopic rod, the controller and the pressure sensor, and the clamping degree of the manipulator is controlled so as not to damage the object by too much force, or too small to make the object be loosen, the magnetic block arranged inside the groove is more firmly, and the anti-skid rubber pad arranged at both ends of the mechanical claw increases the anti-skid function of the manipulator.
Description
Technical field
The present invention relates to technical field, specially a kind of combination type mechanical hand.
Background technology
With the development of network skill, the direction that the networking operation problem of mechanical hand develops after being also.Industrial robot
It is a kind of high-tech automated production equipment that recent decades grow up.Industry mechanical arm be industrial robot a weight
Want branch.Its feature is can to complete various expected job tasks by programming, has people and machine concurrently on construction and performance
The respective advantage of device, especially embodies intelligence and the adaptability of people, completes to make in the accuracy of mechanical manual task and various environment
The ability of industry, has vast potential for future development in all fields of national economy.Existing mechanical hand generally all captures or folder goes
Mode secures the article on gripper, and the article surface that tightly can lead to very much that gripper holds has cut, and gripper holds too loose
Article can be led to drop.
It is an object of the invention to provide a kind of combination type mechanical hand, to solve the problems, such as to propose in above-mentioned background technology.
For achieving the above object, the present invention provides a kind of following technical scheme: combination type mechanical hand, including guide rail, described
The bottom of guide rail is provided with the first symmetrical hydraulic press and the second hydraulic press, and described first hydraulic press passes through the first hydraulically extensible
Bar is fixedly connected with left mechanical hand, and described second hydraulic press is fixedly connected with right mechanical hand by the second hydraulically extensible bar, described
The top of left mechanical hand is provided with head rod, and described head rod and guide rail are slidably connected by first pulley, described
The top of right mechanical hand is provided with the second connecting rod, and described second connecting rod is slidably connected by second pulley with guide rail, described
Left mechanical hand be internally provided with left groove, described left groove be internally provided with the first gripper, described right mechanical hand
Be internally provided with right groove, described right groove be internally provided with the second gripper, described left mechanical hand and right machinery
The inside of handss is provided with pressure inductor.
Preferably, described first gripper and the second gripper be shaped as semicircle.
Preferably, the side of described left mechanical hand and right mechanical hand is provided with mutually corresponding magnetic block.
Preferably, described left groove be internally provided with the first spring, one end of described first spring and left groove
Inwall be fixedly connected, the other end of described first spring is fixedly connected with the outer wall of the first gripper, described right groove
It is internally provided with second spring, one end of described second spring is fixedly connected with the inwall of right groove, described second spring
The other end is fixedly connected with the outer wall of the second gripper.
Preferably, the two ends of described first gripper and the second gripper are provided with anti-skid rubber cushion.
Preferably, described first hydraulic press is provided with controller, the top of described controller away from the side of the second hydraulic press
Portion is fixedly connected with the bottom of guide rail.
Compared with prior art, the invention has the beneficial effects as follows: this combination type mechanical hand, by the first hydraulic press, second
Hydraulic press, the first hydraulically extensible bar, the second hydraulically extensible bar, controller and pressure inductor, automatically adjust the extruding of mechanical handss
Dynamics, can the clamping degree to object for the control machinery hand, will not be because of firmly excessive damage object or firmly too small and make
Object loosens, and the magnetic block that this mechanical hand is arranged by inside grooves makes mechanical hand clamping more firm, by gripper two ends
The non-slip rubber pad of setting, increased the antiskid function of mechanical hand.
Brief description
Fig. 1 is present configuration schematic diagram.
In figure: 1 guide rail, 2 second hydraulic presses, 3 second hydraulically extensible bars, 4 right mechanical hands, 5 second pulley, 6 magnetic blocks, 7
Controller, 8 left mechanical hands, 9 left groove, 10 pressure inductors, 11 first springs, 12 first pulley, 13 right groove, 14
One connecting rod, 15 second grippers, 16 non-slip rubber pads, 17 first hydraulic presses, 18 first hydraulically extensible bars, 19 second springs,
20 first grippers, 21 second connecting rods.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of not making creative work
Embodiment, broadly falls into the scope of protection of the invention.
Refer to Fig. 1, the present invention provides a kind of a kind of technical scheme: combination type mechanical hand, including guide rail 1, the bottom of guide rail 1
Portion is provided with the first symmetrical hydraulic press 17 and the second hydraulic press 2, the first hydraulic press 17 pass through the first hydraulically extensible bar 18 with
Left mechanical hand 8 is fixedly connected, and the second hydraulic press 2 is fixedly connected with right mechanical hand 4 by the second hydraulically extensible bar 3, the first hydraulic pressure
Device 17 is provided with controller 7 away from the side of the second hydraulic press 2, and the top of controller 7 is fixedly connected with the bottom of guide rail 1, left
The side of mechanical hand 8 and right mechanical hand 4 is provided with mutually corresponding magnetic block 6, and magnetic block 6 can effectively increase by two machines
The closing force of tool handss, the top of left mechanical hand 8 is provided with head rod 14, and it is sliding that head rod 14 and guide rail 1 pass through first
Wheel 12 is slidably connected, and the top of right mechanical hand 4 is provided with the second hydraulic connecting bar 21, and the second connecting rod 21 and guide rail pass through second
Pulley 5 is slidably connected, and first pulley 12 and second pulley 5 can facilitate the first hydraulically extensible bar 18 and the second hydraulically extensible bar 3
Flexible, left mechanical hand 8 be internally provided with left groove 9, left groove 9 be internally provided with the first gripper 20, left side
Groove 9 be internally provided with the first spring 11, one end of the first spring 11 is fixedly connected with the inwall of left groove 9, the first bullet
The other end of spring 11 is fixedly connected with the outer wall of the first gripper 20, right mechanical hand 4 be internally provided with right groove 13, right side
Groove 13 be internally provided with the second gripper 15, right groove 13 be internally provided with second spring 19, second spring 19
One end is fixedly connected with the inwall of right groove 13, and the outer wall of the other end of second spring 19 and the second gripper 15 is fixing even
Connect, it is without damage that the first spring 11 of setting and second spring 19 can be effectively protected the object being pressed from both sides, the first gripper 20
With the second gripper 15 be shaped as semicircle, and the first gripper 20 and the second gripper 15 merge and can form an annulus,
The two ends of the first gripper 20 and the second gripper 14 are provided with anti-skid rubber cushion 16, and anti-skid rubber cushion 16 plays anti-skidding work
With the inside of left mechanical hand 8 and right mechanical hand 4 is provided with pressure inductor 10.
Operation principle: when combination type mechanical hand runs, the first hydraulic press 17 drives left machine by the first hydraulically extensible bar 18
The motion of tool handss 8, the second hydraulic press 2 drives right mechanical hand 4 to move by the second hydraulically extensible bar 3, when left mechanical hand 17 and the right side
When mechanical hand 4 closure gripping object, the extruding dynamics of pressure inductor 10 and controller 7 regulation mechanical hand, can control
The clamping dynamics to object for the mechanical hand, by the non-slip rubber pad 16 being provided with two grippers, plays anti-skidding effect.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, permissible
Understand and can carry out multiple changes, modification, replacement to these embodiments without departing from the principles and spirit of the present invention
And modification, the scope of the present invention be defined by the appended.
Claims (6)
1. a kind of combination type mechanical hand, including guide rail (1) it is characterised in that: the bottom of described guide rail (1) is provided with symmetrically
The first hydraulic press (17) and the second hydraulic press (2), described first hydraulic press (17) pass through the first hydraulically extensible bar (18) with left
Mechanical hand (8) is fixedly connected, and it is fixing with right mechanical hand (4) even that described second hydraulic press (2) passes through the second hydraulically extensible bar (3)
Connect, the top of described left mechanical hand (8) is provided with head rod (14), and described head rod (14) and guide rail (1) pass through
First pulley (12) is slidably connected, and the top of described right mechanical hand (4) is provided with the second connecting rod (21), described second connecting rod
(21) be slidably connected by second pulley (5) with guide rail (1), described left mechanical hand (8) be internally provided with left groove (9),
Described left groove (9) be internally provided with the first gripper (20), described right mechanical hand (4) be internally provided with right groove
(13), described right groove (13) be internally provided with the second gripper (15), described left mechanical hand (8) and right mechanical hand (4)
Inside be provided with pressure inductor (10).
2. a kind of combination type mechanical hand according to claim 1 it is characterised in that: described first gripper (20) and second
Gripper (15) be shaped as semicircle.
3. a kind of combination type mechanical hand according to claim 1 it is characterised in that: described left mechanical hand (8) and right machinery
The side of handss (4) is provided with mutually corresponding magnetic block (6).
4. a kind of combination type mechanical hand according to claim 1 it is characterised in that: the inside of described left groove (9) sets
It is equipped with the first spring (11), one end of described first spring (11) is fixedly connected with the inwall of left groove (9), described first bullet
The other end of spring (11) is fixedly connected with the outer wall of the first gripper (20), described right groove (13) be internally provided with second
Spring (19), one end of described second spring (19) is fixedly connected with the inwall of right groove (13), described second spring (19)
The other end be fixedly connected with the outer wall of the second gripper (15).
5. a kind of combination type mechanical hand according to claim 1 it is characterised in that: described first gripper (20) and second
The two ends of gripper (15) are provided with anti-skid rubber cushion (16).
6. a kind of combination type mechanical hand according to claim 1 it is characterised in that: described first hydraulic press (17) is away from
The side of two hydraulic presses (2) is provided with controller (7), and the top of described controller (7) is fixedly connected with the bottom of guide rail (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611014340.5A CN106335072A (en) | 2016-11-18 | 2016-11-18 | A combination of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611014340.5A CN106335072A (en) | 2016-11-18 | 2016-11-18 | A combination of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106335072A true CN106335072A (en) | 2017-01-18 |
Family
ID=57841396
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611014340.5A Pending CN106335072A (en) | 2016-11-18 | 2016-11-18 | A combination of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106335072A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107171161A (en) * | 2017-06-30 | 2017-09-15 | 天津市华之阳特种线缆有限公司 | A kind of hand Wiring harness terminal, plastic kludge |
| CN107932542A (en) * | 2017-12-19 | 2018-04-20 | 浙江省机电设计研究院有限公司 | A kind of apparatus and method for clamping casting |
| CN108039333A (en) * | 2018-01-12 | 2018-05-15 | 常州市杰洋精密机械有限公司 | Silicon chip of solar cell cleans gaily decorated basket fixture and its control method |
| CN108772845A (en) * | 2018-06-30 | 2018-11-09 | 广西晨天金属制品有限公司 | A kind of combination type manipulator |
| CN109149076A (en) * | 2018-08-31 | 2019-01-04 | 邵稚超 | A kind of antenna stand device for automatically adjusting lifting in base station |
| CN109149063A (en) * | 2018-08-31 | 2019-01-04 | 张娜 | A kind of quick-installed antenna stand device |
| CN110293573A (en) * | 2019-06-24 | 2019-10-01 | 盐城永鑫机械有限公司 | A kind of heavy castings clamping device and clamp method |
| CN110340919A (en) * | 2019-07-22 | 2019-10-18 | 西安外事学院 | Material transmission robotic arm grabber |
| CN114043518A (en) * | 2021-11-16 | 2022-02-15 | 南通茂业电子科技有限公司 | Mechanical arm assembly with gripping capability detection function |
-
2016
- 2016-11-18 CN CN201611014340.5A patent/CN106335072A/en active Pending
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107171161A (en) * | 2017-06-30 | 2017-09-15 | 天津市华之阳特种线缆有限公司 | A kind of hand Wiring harness terminal, plastic kludge |
| CN107932542A (en) * | 2017-12-19 | 2018-04-20 | 浙江省机电设计研究院有限公司 | A kind of apparatus and method for clamping casting |
| CN108039333A (en) * | 2018-01-12 | 2018-05-15 | 常州市杰洋精密机械有限公司 | Silicon chip of solar cell cleans gaily decorated basket fixture and its control method |
| CN108039333B (en) * | 2018-01-12 | 2023-09-26 | 常州市杰洋精密机械有限公司 | Clamp for cleaning flower basket of solar cell silicon wafer and control method thereof |
| CN108772845A (en) * | 2018-06-30 | 2018-11-09 | 广西晨天金属制品有限公司 | A kind of combination type manipulator |
| CN109149076A (en) * | 2018-08-31 | 2019-01-04 | 邵稚超 | A kind of antenna stand device for automatically adjusting lifting in base station |
| CN109149063A (en) * | 2018-08-31 | 2019-01-04 | 张娜 | A kind of quick-installed antenna stand device |
| CN109149063B (en) * | 2018-08-31 | 2020-10-23 | 极简(嘉兴)园林景观设计有限责任公司 | Antenna support device capable of being installed quickly |
| CN110293573A (en) * | 2019-06-24 | 2019-10-01 | 盐城永鑫机械有限公司 | A kind of heavy castings clamping device and clamp method |
| CN110340919A (en) * | 2019-07-22 | 2019-10-18 | 西安外事学院 | Material transmission robotic arm grabber |
| CN110340919B (en) * | 2019-07-22 | 2022-03-04 | 西安外事学院 | Material conveying robot arm grabber |
| CN114043518A (en) * | 2021-11-16 | 2022-02-15 | 南通茂业电子科技有限公司 | Mechanical arm assembly with gripping capability detection function |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170118 |