CN106737574B - A kind of controllable link-type gripper - Google Patents

A kind of controllable link-type gripper Download PDF

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Publication number
CN106737574B
CN106737574B CN201611041386.6A CN201611041386A CN106737574B CN 106737574 B CN106737574 B CN 106737574B CN 201611041386 A CN201611041386 A CN 201611041386A CN 106737574 B CN106737574 B CN 106737574B
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China
Prior art keywords
rod
revolute pair
connect
rack
triangular
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CN201611041386.6A
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CN106737574A (en
Inventor
蔡敢为
叶兵
韦为
李洪汉
吴承亮
任华丽
唐剑波
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Guangxi University
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Guangxi University
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/007Manipulators mounted on wheels or on carriages mounted on wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0009Constructional details, e.g. manipulator supports, bases

Abstract

A kind of controllable link-type gripper, one one end of connecting rod is connected to the other end in rack and connect with two one end of connecting rod, two other end of connecting rod is connect with first jiao of triangular connecting plate, second jiao of triangular connecting plate connect with three one end of connecting rod, three other end of connecting rod is connect with four one end of connecting rod, four other end of connecting rod is connected on connecting rod 12, five one end of connecting rod is connected to the other end in rack and connect with six one end of connecting rod, six other end of connecting rod is connect simultaneously with triangular connecting plate the third angle and 12 one end of connecting rod, the other end is connect the connection of connecting rod July 1st end with connecting rod Aug. 1st end on the rack, eight other end of connecting rod is connected on connecting rod six, nine one end of connecting rod is connected to the other end on connecting rod eight and is connected on connecting rod three.The present invention is suitable for high-revolving occasion, decreases rotary inertia, and robust motion and reliability increase, and will not generate pollution.

Description

A kind of controllable link-type gripper
Technical field
The present invention relates to machinery field, specifically a kind of controllable link-type gripper.
Background technique
So that great variation has occurred in the life of the mankind, it is strong that manipulator possesses very big labour for the generation of manipulator Degree, and can efficient completion work in every in a relatively short period of time, also can replace people go to complete it is some highly difficult, high Dangerous work is to ensure that the personal safety of worker.And also gradually process of industrialization is constantly accelerated, become The core force of industrial development.Therefore, manipulator receives the concern and popularization of countries in the world.
With the continuous progress of science and technology, continuous improvement modern mechanical required, while the requirement to precision is also gradually Raising.Currently, many link-type grippers are all to have structure simple using fluid pressure type, manufacturing cost is low, and 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-precision, high revolving speed and high load Occasion and also elliptical gear it is also larger.And for fluid pressure type, not only the hydraulic components accuracy of manufacture requires high, manufacture And its maintenance is at high cost, hydraulic oil is easy to fail due to generating heat when work again, and replacement hydraulic oil is at high cost, hydraulic system Vulnerable to such environmental effects, especially under low temperature or hot environment, it is easy to appear situations such as inability or hydraulic system are damaged.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of controllable link-type grippers.
To achieve the goals above, the invention adopts the 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 nine, connecting rod ten, connecting rod 11, connecting rod 12, executes terminal, sliding block, triangular connecting plate, rack and small at connecting rod eight Vehicle,
One one end of connecting rod is connected on the rack by revolute pair one, and one other end of connecting rod passes through revolute pair two and connecting rod 21 End connection, two other end of connecting rod are connect by revolute pair three with first jiao of triangular connecting plate, and second jiao of triangular connecting plate by turning Dynamic pair four is connect with three one end of connecting rod, and three other end of connecting rod is connect by revolute pair five with four one end of connecting rod, four other end of connecting rod It is connected on connecting rod 12 by revolute pair six,
Five one end of connecting rod is connected on the rack by revolute pair seven, and five other end of connecting rod passes through revolute pair eight and connecting rod 61 End connection, six other end of connecting rod are connect by revolute pair nine with triangular connecting plate the third angle and 12 one end of connecting rod simultaneously, connecting rod 12 other ends are connected to by revolute pair ten and are executed in terminal,
Connecting rod July 1st end by by revolute pair 11 connection on the rack, seven other end of connecting rod by revolute pair 12 with The connection of connecting rod Aug. 1st end, eight other end of connecting rod are connected on connecting rod six by revolute pair 13,
Nine one end of connecting rod is connected on connecting rod eight by revolute pair 14, and nine other end of connecting rod is connected by revolute pair 15 On connecting rod three,
Ten one end of connecting rod is connected on the rack by revolute pair 16, and ten other end of connecting rod passes through revolute pair 17 and connecting rod The connection of 11 one end, 11 other end of connecting rod are connected on sliding block by revolute pair 18, and the connecting rod one is equipped with axial sliding Slot, sliding block are mounted in sliding slot, and rack is mounted on trolley by revolute pair 19.
Compared with prior art, the present invention have the utility model has the advantages that
Currently, many link-type grippers are all using fluid pressure type, although having structure simple, manufacturing cost is low, A series of advantages such as working space is big, but its rigidity and intensity is not all universal high, be not particularly suited for high-precision, high revolving speed and The occasion and elliptical gear of high load are also larger, and in addition there are biggish rotary inertias, and there is the pollutions to environment.And it is right For controllable link-type gripper in the present invention, remain that structure is simple, and manufacturing cost is low, working space is big, and structure is tight The a series of advantage such as gather, and impact vibration decreases, especially suitable for high-revolving occasion, the efficiency and tradition of transmission Mechanism compared to having been improved, while decreasing rotary inertia, robust motion and reliability increase, and will not generate pollution.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of controllable link-type gripper of the present invention.
Specific embodiment
Technical solution of the present invention 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, execution terminal 17, sliding block 13, triangular connecting plate 16, rack 14 and trolley 15,
One 1 one end of connecting rod is connected in rack 14 by revolute pair 1, and one 1 other end of connecting rod passes through revolute pair 2 102 It is connect with 22 one end of connecting rod, 22 other end of connecting rod is connect by revolute pair 3 103 with 16 first jiaos of triangular connecting plate, and triangle connects 16 second jiaos of fishplate bar connects by revolute pair 4 104 with 33 one end of connecting rod, 33 other end of connecting rod pass through revolute pair 5 105 and The connection of 44 one end of connecting rod, 44 other end of connecting rod are connected on connecting rod 12 by revolute pair 6 106,
55 one end of connecting rod is connected in rack 14 by revolute pair 7 107, and 55 other end of connecting rod passes through revolute pair 8 108 It is connect with 66 one end of connecting rod, 66 other end of connecting rod passes through revolute pair 9 109 and 16 the third angle of triangular connecting plate and connecting rod 12 12 one end connect simultaneously, and 12 other end of connecting rod is connected to by revolute pair 10 and is executed in terminal 17,
For 77 one end of connecting rod by being connected in rack 14 by revolute pair 11,77 other end of connecting rod passes through rotation Pair 12 is connect with 88 one end of connecting rod, and 88 other end of connecting rod is connected on connecting rod 66 by revolute pair 13,
99 one end of connecting rod is connected on connecting rod 88 by revolute pair 14, and 99 other end of connecting rod passes through revolute pair ten 5 115 are connected on connecting rod 33,
10 one end of connecting rod is connected in rack 14 by revolute pair 16, and 10 other end of connecting rod passes through revolute pair 17 connect with 11 one end of connecting rod, and 11 other end of connecting rod is connected on sliding block 13 by revolute pair 18, The connecting rod 1 is equipped with axial slide, and sliding block 13 is mounted in sliding slot, and rack 14 is mounted on trolley by revolute pair 19 On 15.

Claims (1)

1. a kind of controllable link-type gripper, which is characterized in that including connecting rod one, connecting rod two, connecting rod three, connecting rod four, connecting rod five, Connecting rod six, connecting rod eight, connecting rod nine, connecting rod ten, connecting rod 11, connecting rod 12, executes terminal, sliding block, triangle joint at connecting rod seven Plate, rack and trolley,
One one end of connecting rod is connected on the rack by revolute pair one, and one other end of connecting rod is connected by revolute pair two and two one end of connecting rod It connects, two other end of connecting rod is connect by revolute pair three with first jiao of triangular connecting plate, and second jiao of triangular connecting plate passes through revolute pair Four connect with three one end of connecting rod, and three other end of connecting rod is connect by revolute pair five with four one end of connecting rod, and four other end of connecting rod passes through Revolute pair six is connected on connecting rod 12,
Five one end of connecting rod is connected on the rack by revolute pair seven, and five other end of connecting rod is connected by revolute pair eight and six one end of connecting rod It connects, six other end of connecting rod is connect by revolute pair nine with triangular connecting plate the third angle and 12 one end of connecting rod simultaneously, connecting rod 12 The other end is connected to by revolute pair ten and is executed in terminal,
Connecting rod July 1st end is by the way that by the connection of revolute pair 11, on the rack, seven other end of connecting rod passes through revolute pair 12 and connecting rod The connection of Aug. 1st end, eight other end of connecting rod are connected on connecting rod six by revolute pair 13,
Nine one end of connecting rod is connected on connecting rod eight by revolute pair 14, and nine other end of connecting rod passes through 15 company of being connected to of revolute pair On bar three,
Ten one end of connecting rod is connected on the rack by revolute pair 16, and ten other end of connecting rod passes through revolute pair 17 and connecting rod 11 One end connection, 11 other end of connecting rod are connected on sliding block by revolute pair 18, and the connecting rod one is equipped with axial slide, sliding Block is mounted in sliding slot, and rack is mounted on trolley by revolute pair 19.
CN201611041386.6A 2016-11-23 2016-11-23 A kind of controllable link-type gripper Active CN106737574B (en)

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

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CN106737574A CN106737574A (en) 2017-05-31
CN106737574B true CN106737574B (en) 2019-04-16

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Families Citing this family (3)

* Cited by examiner, † Cited by third party
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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Publication number Priority date Publication date Assignee Title
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
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

Family Cites Families (3)

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Publication number Priority date Publication date Assignee Title
CN102407524A (en) * 2010-09-21 2012-04-11 鸿富锦精密工业(深圳)有限公司 Robot
CN105369840B (en) * 2015-11-10 2017-11-07 南宁邃丛赋语科技开发有限责任公司 A kind of multiple degrees of freedom becomes born of the same parents' palletizing mechanical arm in parallel
CN105421503B (en) * 2015-11-10 2018-07-31 东莞市京工自动化设备有限公司 A kind of controllable-mechanism type carrying robot arm

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
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

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