CN106737574A - A kind of controllable link-type gripper - Google Patents
A kind of controllable link-type gripper Download PDFInfo
- Publication number
- CN106737574A CN106737574A CN201611041386.6A CN201611041386A CN106737574A CN 106737574 A CN106737574 A CN 106737574A CN 201611041386 A CN201611041386 A CN 201611041386A CN 106737574 A CN106737574 A CN 106737574A
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- CN
- China
- Prior art keywords
- connecting rod
- rotating secondary
- rotating
- frame
- triangular
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Abstract
A kind of controllable link-type gripper, the one end of connecting rod one is connected to the other end in frame and is connected with the one end of connecting rod two, the other end of connecting rod two is connected for first jiao with triangular connecting plate, second jiao of triangular connecting plate is connected with the one end of connecting rod three, the other end of connecting rod three is connected with the one end of connecting rod four, the other end of connecting rod four is connected on connecting rod 12, the one end of connecting rod five is connected to the other end in frame and is connected with the one end of connecting rod six, the other end of connecting rod six is connected simultaneously with triangular connecting plate the third angle and the one end of connecting rod 12, connecting rod July 1st end is connected to the other end in frame and is connected with connecting rod Aug. 1st end, the other end of connecting rod eight is connected on connecting rod six, the one end of connecting rod nine is connected to the other end on connecting rod eight and is connected on connecting rod three.The present invention is applied to high-revolving occasion, decreases rotary inertia, and robust motion increases with reliability, will not produce pollution.
Description
Technical field
The present invention relates to mechanical field, specifically a kind of controllable link-type gripper.
Background technology
The generation of manipulator causes that the life of the mankind there occurs great change, and it is strong that manipulator possesses very big work
Degree, and can efficient completion work in every in the short period of time, it is also possible to go to complete some highly difficult, height instead of people
Dangerous work is so as to ensure that the personal safety of workman.And also gradually cause that process of industrialization is constantly accelerated, and turns into
The core force of industrial development.Therefore, manipulator have received the concern of time various countries and promote.
With the continuous progress of science and technology, the continuous improvement to modern mechanical requirement, while the requirement to precision is also progressively
Raising.At present, many link-type grippers are all that, using fluid pressure type, with simple structure, low cost of manufacture, work is empty
Between a series of advantage such as big, but its rigidity and intensity is not all universal high, is not particularly suited for high accuracy, rotating speed high and high capacity
Occasion and also elliptical gear is also larger.And for fluid pressure type, not only the requirement of the hydraulic components accuracy of manufacture is high, manufacture
And its maintaining high cost, hydraulic oil is again easy to be failed due to heating when working, and changes hydraulic oil high cost, hydraulic system
Such environmental effects are easily received, especially under low temperature or hot environment, situations such as powerless or hydraulic system easily occur and damage.
The content of the invention
The present invention is in view of the shortcomings of the prior art, there is provided a kind of controllable link-type gripper.
To achieve these goals, present invention employs following technical scheme：
A kind of controllable link-type gripper, including connecting rod one, connecting rod two, connecting rod three, connecting rod four, connecting rod five, connecting rod six, company
Bar seven, connecting rod eight, connecting rod nine, connecting rod ten, connecting rod 11, connecting rod 12, perform terminal, sliding block, triangular connecting plate, frame and small
Car,
The one end of connecting rod one is connected in frame by rotating secondary one, and the other end of connecting rod one is by rotating secondary two with connecting rod 21
End connection, the other end of connecting rod two is connected for first jiao by rotating pair three with triangular connecting plate, and second jiao of triangular connecting plate is by turning
Dynamic secondary four are connected with the one end of connecting rod three, and the other end of connecting rod three is connected by rotating secondary five with the one end of connecting rod four, the other end of connecting rod four
It is connected on connecting rod 12 by rotating secondary six,
The one end of connecting rod five is connected in frame by rotating secondary seven, and the other end of connecting rod five is by rotating secondary eight with connecting rod 61
End connection, the other end of connecting rod six is connected simultaneously by rotating secondary nine with triangular connecting plate the third angle and the one end of connecting rod 12, connecting rod
12 other ends are connected in execution terminal by rotating secondary ten,
Connecting rod July 1st end is connected in frame by by rotating secondary 11, the other end of connecting rod seven by rotate secondary 12 with
Connecting rod Aug. 1st end is connected, and the other end of connecting rod eight is connected on connecting rod six by rotating secondary 13,
The one end of connecting rod nine is connected on connecting rod eight by rotating secondary 14, and the other end of connecting rod nine is connected by rotating secondary 15
On connecting rod three,
The one end of connecting rod ten is connected in frame by rotating secondary 16, and the other end of connecting rod ten is by rotating secondary 17 and connecting rod
11 one end are connected, and the other end of connecting rod 11 is connected on sliding block by rotating secondary 18, and the connecting rod one is provided with axial cunning
Groove, sliding block is arranged in chute, and frame is arranged on dolly by rotating secondary 19.
Compared with prior art, the beneficial effect that the present invention possesses：
At present, many link-type grippers are all using fluid pressure type, although with simple structure, low cost of manufacture,
The a series of advantage such as working space is big, but its rigidity and intensity is not all universal high, be not particularly suited for high accuracy, rotating speed high and
The occasion of high capacity and elliptical gear is also larger, in addition with larger rotary inertia, has the pollution to environment.And it is right
For controllable link-type gripper in the present invention, simple structure is remained, low cost of manufacture, working space is big, and structure is tight
The a series of advantage such as gather, and impact shock is decreased, and is particularly well-suited to high-revolving occasion, efficiency and the tradition of transmission
Mechanism compared to having been improved, while decreasing rotary inertia, robust motion increases with reliability, will not produce pollution.
Brief description of the drawings
Fig. 1 is a kind of structural representation of controllable link-type gripper of the present invention.
Specific embodiment
Technical scheme is further elaborated below by embodiment.
Embodiment 1
A kind of controllable link-type gripper, including connecting rod 1, connecting rod 22, connecting rod 33, connecting rod 44, connecting rod 55, connecting rod
66, connecting rod 77, connecting rod 88, connecting rod 99, connecting rod 10, connecting rod 11, connecting rod 12, perform terminal 17, sliding block 13,
Triangular connecting plate 16, frame 14 and dolly 15,
The one end of connecting rod 1 is connected in frame 1420 by rotating secondary 1, and the other end of connecting rod 1 is by rotating secondary two
102 are connected with the one end of connecting rod 22, and the other end of connecting rod 22 is connected for 1,616 first jiaos by rotating pair 3 103 with triangular connecting plate,
1,616 second jiaos of triangular connecting plate is connected by rotating secondary 4 104 with the one end of connecting rod 33, and the other end of connecting rod 33 is secondary by rotating
5 105 are connected with the one end of connecting rod 44, and the other end of connecting rod 44 is connected on connecting rod 12 by rotating secondary 6 106,
The one end of connecting rod 55 is connected in frame 14 by rotating secondary 7 107, and the other end of connecting rod 55 is by rotating secondary 8 108
It is connected with the one end of connecting rod 66, the other end of connecting rod 66 is by rotating secondary 9 109 with the third angle of triangular connecting plate 1616 and connecting rod ten
2 12 one end are connected simultaneously, and the other end of connecting rod 12 is connected in execution terminal 17 by rotating secondary 10,
The one end of connecting rod 77 is connected in frame 14 by by rotating secondary 11, and the other end of connecting rod 77 is by rotating
Secondary 12 are connected with the one end of connecting rod 88, and the other end of connecting rod 88 is connected on connecting rod 66 by rotating secondary 13,
The one end of connecting rod 99 is connected on connecting rod 88 by rotating secondary 14, and the other end of connecting rod 99 is by rotating secondary ten
5 115 are connected on connecting rod 33,
The one end of connecting rod 10 is connected in frame 14 by rotating secondary 16, and the other end of connecting rod 10 is secondary by rotating
17 are connected with the one end of connecting rod 11, and the other end of connecting rod 11 is connected on sliding block 13 by rotating secondary 18,
The connecting rod 1 is provided with axial slide, and sliding block 1319 is arranged in chute, and frame 14 is arranged on dolly by rotating secondary 19
On 15.
Claims (1)
1. a kind of controllable link-type gripper, it is characterised in that including connecting rod one, connecting rod two, connecting rod three, connecting rod four, connecting rod five,
Connecting rod six, connecting rod seven, connecting rod eight, connecting rod nine, connecting rod ten, connecting rod 11, connecting rod 12, execution terminal, sliding block, triangle joint
Plate, frame and dolly,
The one end of connecting rod one is connected in frame by rotating secondary one, and the other end of connecting rod one is connected by rotating secondary two with the one end of connecting rod two
Connect, the other end of connecting rod two is connected for first jiao by rotating pair three with triangular connecting plate, second jiao of triangular connecting plate is secondary by rotating
Four are connected with the one end of connecting rod three, and the other end of connecting rod three is connected by rotating secondary five with the one end of connecting rod four, and the other end of connecting rod four passes through
Secondary six are rotated to be connected on connecting rod 12,
The one end of connecting rod five is connected in frame by rotating secondary seven, and the other end of connecting rod five is connected by rotating secondary eight with the one end of connecting rod six
Connect, the other end of connecting rod six is connected simultaneously by rotating secondary nine with triangular connecting plate the third angle and the one end of connecting rod 12, connecting rod 12
The other end is connected in execution terminal by rotating secondary ten,
Connecting rod July 1st end is connected in frame by by rotating secondary 11, and the other end of connecting rod seven is by rotating secondary 12 and connecting rod
Aug. 1st end is connected, and the other end of connecting rod eight is connected on connecting rod six by rotating secondary 13,
The one end of connecting rod nine is connected on connecting rod eight by rotating secondary 14, and the other end of connecting rod nine is by rotating secondary 15 companies of being connected to
On bar three,
The one end of connecting rod ten is connected in frame by rotating secondary 16, and the other end of connecting rod ten is by rotating secondary 17 with connecting rod 11
One end is connected, and the other end of connecting rod 11 is connected on sliding block by rotating secondary 18, and the connecting rod one is provided with axial slide, sliding
Block is arranged in chute, and frame is arranged on dolly by rotating secondary 19.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611041386.6A CN106737574B (en) | 2016-11-23 | 2016-11-23 | A kind of controllable link-type gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611041386.6A CN106737574B (en) | 2016-11-23 | 2016-11-23 | A kind of controllable link-type gripper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106737574A true CN106737574A (en) | 2017-05-31 |
| CN106737574B CN106737574B (en) | 2019-04-16 |
Family
ID=58975049
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611041386.6A Active CN106737574B (en) | 2016-11-23 | 2016-11-23 | A kind of controllable link-type gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106737574B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107309904A (en) * | 2017-07-04 | 2017-11-03 | 广西大学 | A kind of multiple degrees of freedom clamps arm robot |
| CN107414371A (en) * | 2017-09-26 | 2017-12-01 | 广西南宁栩兮科技有限公司 | A kind of welding robot |
| CN107675740A (en) * | 2017-09-26 | 2018-02-09 | 广西南宁栩兮科技有限公司 | A kind of engineering machinery |
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| US20120067156A1 (en) * | 2010-09-21 | 2012-03-22 | Hon Hai Precision Industry Co., Ltd. | Robot for handling object |
| CN103029124A (en) * | 2012-12-27 | 2013-04-10 | 广西大学 | Multi-degree-of-freedom controllable mechanism type stacking robot |
| CN104440866A (en) * | 2014-12-25 | 2015-03-25 | 广西大学 | Three-degree-of-freedom nine-connecting-rod controllable mobile operating mechanical arm with mobile pair |
| CN104589301A (en) * | 2014-12-17 | 2015-05-06 | 广西大学 | Palletizer provided with ten-rod four-freedom-degree controllable mechanism type moving mechanical arm |
| CN105369840A (en) * | 2015-11-10 | 2016-03-02 | 南宁邃丛赋语科技开发有限责任公司 | Multi-degree-of-freedom metamorphism parallel-connection stacking mechanical arm |
| CN105421503A (en) * | 2015-11-10 | 2016-03-23 | 南宁邃丛赋语科技开发有限责任公司 | Controllable mechanism type transfer robot arm |
| CN105773654A (en) * | 2016-05-15 | 2016-07-20 | 广西南宁栩兮科技有限公司 | Telescopic material taking and putting joint |
-
2016
- 2016-11-23 CN CN201611041386.6A patent/CN106737574B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120067156A1 (en) * | 2010-09-21 | 2012-03-22 | Hon Hai Precision Industry Co., Ltd. | Robot for handling object |
| CN103029124A (en) * | 2012-12-27 | 2013-04-10 | 广西大学 | Multi-degree-of-freedom controllable mechanism type stacking robot |
| CN104589301A (en) * | 2014-12-17 | 2015-05-06 | 广西大学 | Palletizer provided with ten-rod four-freedom-degree controllable mechanism type moving mechanical arm |
| CN104440866A (en) * | 2014-12-25 | 2015-03-25 | 广西大学 | Three-degree-of-freedom nine-connecting-rod controllable mobile operating mechanical arm with mobile pair |
| CN105369840A (en) * | 2015-11-10 | 2016-03-02 | 南宁邃丛赋语科技开发有限责任公司 | Multi-degree-of-freedom metamorphism parallel-connection stacking mechanical arm |
| CN105421503A (en) * | 2015-11-10 | 2016-03-23 | 南宁邃丛赋语科技开发有限责任公司 | Controllable mechanism type transfer robot arm |
| CN105773654A (en) * | 2016-05-15 | 2016-07-20 | 广西南宁栩兮科技有限公司 | Telescopic material taking and putting joint |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107309904A (en) * | 2017-07-04 | 2017-11-03 | 广西大学 | A kind of multiple degrees of freedom clamps arm robot |
| CN107414371A (en) * | 2017-09-26 | 2017-12-01 | 广西南宁栩兮科技有限公司 | A kind of welding robot |
| CN107675740A (en) * | 2017-09-26 | 2018-02-09 | 广西南宁栩兮科技有限公司 | A kind of engineering machinery |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106737574B (en) | 2019-04-16 |
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