CN107053145A - A kind of multifunction machine mechanical gripper - Google Patents
A kind of multifunction machine mechanical gripper Download PDFInfo
- Publication number
- CN107053145A CN107053145A CN201710457895.5A CN201710457895A CN107053145A CN 107053145 A CN107053145 A CN 107053145A CN 201710457895 A CN201710457895 A CN 201710457895A CN 107053145 A CN107053145 A CN 107053145A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- motor
- spring
- mechanical gripper
- multifunction machine
- 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- Withdrawn
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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0246—Gripping heads and other end effectors servo-actuated actuated by an electromagnet
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
-
- 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
-
- 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
- B25J9/105—Programme-controlled manipulators characterised by positioning means for manipulator elements using eccentric means
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of multifunction machine mechanical gripper, including retractor device, support bar, battery, supporting plate, the first electromagnet, the first spring, yielding rubber, the first motor, yielding rubber, electric machine main shaft, hydraulic oil container, pressure sensor, second spring, the second electromagnet, guide rod, piston rod, piston cylinder, hydraulic pump, check valve, fixed block, second connecting rod, the second motor, eccentric cam, first connecting rod, block and rotary shaft；Simple in construction, compact conformation of the invention, it is easy to operate, it is easy to accomplish, it can add the flexibility of manipulator with 360 degree of full wind-ups, can flexibly move；There is preferable damping performance simultaneously, the part impact in the external world can be resisted；Simultaneously provided with electromagnet, as long as the place for having steel just can fix the present apparatus, using scope than wide, while the present apparatus can transport the steel-iron components on lathe, with larger economic benefit and extensive market prospects, it is worth of widely use.
Description
Technical field
The present invention relates to a kind of mechanical gripper, specially a kind of multifunction machine mechanical gripper belongs to lathe handgrip skill
Art field.
Background technology
Manipulator be it is a kind of can imitate some holding functions of human hand and arm, to be captured by fixed routine, carry object
Or the automatic pilot of operation instrument；Manipulator is the industrial robot occurred earliest, is also the modern machines occurred earliest
People, the heavy labor that it can replace people can operate to protect people to realize the mechanization and automation of production under hostile environment
Body safety, thus it is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy, therefore, to multifunction machine
With the demand of mechanical gripper also growing.
But general most of manipulators are an independent machinery, and the angle of manipulator rotation only limits one in very little
Within the scope of, it is very low using flexibility；It is also secured to ground or immovable elsewhere, it is very limited using scope；And
Most of manipulator damping performances are bad, and can only pawl hold the workpiece of given shape, limited to very much using scope；Therefore, for
Above mentioned problem proposes a kind of multifunction machine mechanical gripper.
The content of the invention
The purpose of the present invention is that provides a kind of multifunction machine mechanical gripper to solve the above problems.
The present invention is achieved through the following technical solutions above-mentioned purpose, a kind of multifunction machine mechanical gripper, including branch
Fagging, the supporting plate is provided with battery and the first motor, and the first motor internal is provided with electric machine main shaft；The electric machine main shaft
Periphery socket yielding rubber, and electric machine main shaft end welding support bar；The supporting bar top welds retractor device, and supporting plate
It is glued yielding rubber in bottom；The first spring is provided with inside the yielding rubber, and yielding rubber bottom is provided with the first electromagnet；Institute
State and the second motor is provided with inside retractor device, and the second motor end welding eccentric cam；The eccentric cam passes through rotary shaft
Be rotatably connected first connecting rod, and first connecting rod end is rotatably connected second connecting rod by rotary shaft；The second connecting rod end weldering
Connect fixed block, and fixed block end is rotatably connected piston cylinder by rotary shaft；Hydraulic oil container is welded in the piston cylinder side, and living
Plug cylinder opposite side welds hydraulic pump；Connected between the hydraulic oil container and piston cylinder by pipeline, and pipeline is provided with check valve；
Mobile link piston rod inside the piston cylinder, and piston-rod end welds the second electromagnet by guide rod；The guide rod periphery
Second spring is socketed, and second spring end is provided with pressure sensor；The second connecting rod both sides are provided with block.
It is preferred that, the number of the battery is two, and is symmetrically glued to the first motor both sides.
It is preferred that, the yielding rubber is shaped as cylinder, and cylinder diameter is slightly larger than the diameter of support bar.
It is preferred that, the number of first spring is several, and the first spring is uniform equidistantly through yielding rubber.
It is preferred that, the number of the guide rod is several, and uniform angularly radial is arranged in piston rod bottom.
It is preferred that, the telescopic extensions of the retractor device are the length of second connecting rod.
The beneficial effects of the invention are as follows：The apparatus structure is simple, novel in design, compact conformation, it is easy to operate, it is easy to real
It is existing, it can add the flexibility of manipulator with 360 degree of full wind-ups, can flexibly move；There is preferable damping property simultaneously
Can, the part impact in the external world can be resisted；Simultaneously provided with electromagnet, as long as the place for having steel just can fix the present apparatus, use
Scope is than wide, while the present apparatus can transport the steel-iron components on lathe, with larger economic benefit and extensive city
Field prospect, is worth of widely use.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is top view of the invention.
In figure：1st, retractor device, 2, support bar, 3, battery, 4, supporting plate, the 5, first electromagnet, the 6, first spring, 7,
Yielding rubber, the 8, first motor, 9, yielding rubber, 10, electric machine main shaft, 11, hydraulic oil container, 12, pressure sensor, 13, second
Spring, the 14, second electromagnet, 15, guide rod, 16, piston rod, 17, piston cylinder, 18, hydraulic pump, 19, check valve, 20, fixed block,
21st, second connecting rod, the 22, second motor, 23, eccentric cam, 24, first connecting rod, 25, block, 26, rotary shaft.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and be not considered as limiting the invention.
Refer to shown in Fig. 1-2, a kind of multifunction machine mechanical gripper, including supporting plate 4, set in the supporting plate 4
There is the motor 8 of battery 3 and first, and the inside of the first motor 8 is provided with electric machine main shaft 10；The periphery of the electric machine main shaft 10 socket damping
Rubber 9, and the end of electric machine main shaft 10 welding support bar 2；Weld retractor device 1, and the bottom of supporting plate 4 in the top of support bar 2
It is glued yielding rubber 7；The inside of yielding rubber 7 is provided with the first spring 6, and the bottom of yielding rubber 7 is provided with the first electromagnet 5；
The inside of retractor device 1 is provided with the second motor 22, and the end of the second motor 22 welding eccentric cam 23；The eccentric cam 23
By the rotatable connection first connecting rod 24 of rotary shaft 26, and the end of first connecting rod 24 passes through the rotatable connection second connecting rod of rotary shaft 26
21；The end of second connecting rod 21 is welded and fixed block 20, and the end of fixed block 20 passes through the rotatable connection piston cylinder 17 of rotary shaft 26；
Weld hydraulic oil container 11, and the opposite side of piston cylinder 17 welding hydraulic pump 18 in the side of piston cylinder 17；The He of hydraulic oil container 11
Connected between piston cylinder 17 by pipeline, and pipeline is provided with check valve 19；The inside mobile link piston rod of piston cylinder 17
16, and the second electromagnet 14 is welded in the end of piston rod 16 by guide rod 15；The periphery of the guide rod 15 socket second spring 13, and the
The end of two spring 13 is provided with pressure sensor 12；The both sides of second connecting rod 21 are provided with block 25.
It is preferred that, the number of the battery 3 is two, and is symmetrically glued to the both sides of the first motor 8, and structure is more stepped up
Gather.
It is preferred that, the yielding rubber 9 is shaped as cylinder, and cylinder diameter is slightly larger than the diameter of support bar 2,
With preferable damping property.
It is preferred that, the number of first spring 6 is several, and the first spring 6 is uniform equidistantly through buffering rubber
Glue 7, with preferable damping property.
It is preferred that, the number of the guide rod 15 is several, and it is uniform it is angularly radial be arranged in piston rod 16, just
With the crawl to workpiece.
It is preferred that, the telescopic extensions of the retractor device 1 are the length of second connecting rod 21, can expand the model of mechanical gripper
Enclose.
In the use of the present invention, the first electromagnet 5 is positioned on lathe before use, and we open the first electromagnet
5, adhesive lathe tightly is allowed to, fixed effect is now played；When we need rotating machine arm, now we only
Need to open the first motor 8, now rotated in the drive lower support bar 2 of electric machine main shaft 10, and then the 360 degree of rotations of driving mechanical hand
Turn；When we need to expand manipulator scope, we only need to retractor device 1 and extended, and now we open the second electricity
Machine 22, under the drive of the main shaft of the second motor 22, cam 23 starts rotation, now drives first connecting rod 24 to rotate, and then drives
The direct acting of second connecting rod 21, may finally make mechanical arm extend and shorten purpose；The progress while manipulator can also move up and down
Part is captured, when part is captured, it would be desirable to open the second electromagnet 14, now we can open hydraulic pump 18,
We can control motion of the piston rod about 16 and then manipulator can be made to move up and down, and clamp Machinetool workpiece.
The beneficial effects of the invention are as follows：The apparatus structure is simple, novel in design, compact conformation, it is easy to operate, it is easy to real
It is existing, it can add the flexibility of manipulator with 360 degree of full wind-ups, can flexibly move；There is preferable damping property simultaneously
Can, the part impact in the external world can be resisted；Simultaneously provided with electromagnet, as long as the place for having steel just can fix the present apparatus, use
Scope is than wide, while the present apparatus can transport the steel-iron components on lathe, with larger economic benefit and extensive city
Field prospect, is worth of widely use.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changed, replacing and modification.
Claims (6)
1. a kind of multifunction machine mechanical gripper, including supporting plate (4), it is characterised in that：The supporting plate (4) is provided with storage
Electric machine main shaft (10) is provided with inside battery (3) and the first motor (8), and the first motor (8)；Electric machine main shaft (10) periphery set
Connect yielding rubber (9), and electric machine main shaft (10) end welding support bar (2)；Weld retractor device in support bar (2) top
(1), and supporting plate (4) bottom be glued yielding rubber (7)；The first spring (6), and buffering are provided with inside the yielding rubber (7)
Rubber (7) bottom is provided with the first electromagnet (5)；The second motor (22), and the second motor are provided with inside the retractor device (1)
(22) end welding eccentric cam (23)；The eccentric cam (23) by rotary shaft (26) be rotatably connected first connecting rod (24),
And first connecting rod (24) end passes through rotary shaft (26) rotatable connection second connecting rod (21)；Second connecting rod (21) the end welding
Fixed block (20), and fixed block (20) end passes through rotary shaft (26) rotatable connection piston cylinder (17)；The piston cylinder (17) one
Side welding hydraulic oil container (11), and piston cylinder (17) opposite side welding hydraulic pump (18)；The hydraulic oil container (11) and piston cylinder
(17) connected between by pipeline, and pipeline is provided with check valve (19)；The internal mobile link piston rod of the piston cylinder (17)
(16), and piston rod (16) end pass through guide rod (15) weld the second electromagnet (14)；Guide rod (15) periphery socket second
Spring (13), and second spring (13) end is provided with pressure sensor (12)；Second connecting rod (21) both sides are provided with block
(25)。
2. a kind of multifunction machine mechanical gripper according to claim 1, it is characterised in that：The battery (3)
Number is two, and is symmetrically glued to the first motor (8) both sides.
3. a kind of multifunction machine mechanical gripper according to claim 1, it is characterised in that：The yielding rubber (9)
Be shaped as cylinder, and cylinder diameter is slightly larger than the diameter of support bar (2).
4. a kind of multifunction machine mechanical gripper according to claim 1, it is characterised in that：First spring (6)
Number be several, and the first spring (6) is uniform equidistantly through yielding rubber (7).
5. a kind of multifunction machine mechanical gripper according to claim 1, it is characterised in that：The number of the guide rod (15)
Mesh is several, and uniform angularly radial is arranged in piston rod (16) bottom.
6. a kind of multifunction machine mechanical gripper according to claim 1, it is characterised in that：The retractor device (1)
Telescopic extensions be second connecting rod (21) length.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710457895.5A CN107053145A (en) | 2017-06-16 | 2017-06-16 | A kind of multifunction machine mechanical gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710457895.5A CN107053145A (en) | 2017-06-16 | 2017-06-16 | A kind of multifunction machine mechanical gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107053145A true CN107053145A (en) | 2017-08-18 |
Family
ID=59594043
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710457895.5A Withdrawn CN107053145A (en) | 2017-06-16 | 2017-06-16 | A kind of multifunction machine mechanical gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107053145A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107859809A (en) * | 2017-12-15 | 2018-03-30 | 青岛港湾职业技术学院 | A kind of pipe robot |
| CN109262589A (en) * | 2018-10-10 | 2019-01-25 | 王涛 | One kind can monitor multi-direction type assembly line industrial robot automatically |
| CN112338568A (en) * | 2020-10-31 | 2021-02-09 | 宣荣康 | Workstation for digit control machine tool |
| CN114012772A (en) * | 2022-01-06 | 2022-02-08 | 东莞市宝科精密机械有限公司 | Manipulator device for machine tool |
| CN114310864A (en) * | 2022-01-14 | 2022-04-12 | 浙江精尚数控科技有限公司 | Multi-stroke selection telescopic manipulator |
| CN114454206A (en) * | 2022-04-08 | 2022-05-10 | 中测智联(深圳)科技有限公司 | Auxiliary mechanical arm for development of Internet of things software and hardware |
-
2017
- 2017-06-16 CN CN201710457895.5A patent/CN107053145A/en not_active Withdrawn
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107859809A (en) * | 2017-12-15 | 2018-03-30 | 青岛港湾职业技术学院 | A kind of pipe robot |
| CN109262589A (en) * | 2018-10-10 | 2019-01-25 | 王涛 | One kind can monitor multi-direction type assembly line industrial robot automatically |
| CN112338568A (en) * | 2020-10-31 | 2021-02-09 | 宣荣康 | Workstation for digit control machine tool |
| CN114012772A (en) * | 2022-01-06 | 2022-02-08 | 东莞市宝科精密机械有限公司 | Manipulator device for machine tool |
| CN114012772B (en) * | 2022-01-06 | 2022-03-18 | 东莞市宝科精密机械有限公司 | Manipulator device for machine tool |
| CN114310864A (en) * | 2022-01-14 | 2022-04-12 | 浙江精尚数控科技有限公司 | Multi-stroke selection telescopic manipulator |
| CN114310864B (en) * | 2022-01-14 | 2024-06-25 | 浙江精尚数控科技有限公司 | Multi-stroke selective telescopic manipulator |
| CN114454206A (en) * | 2022-04-08 | 2022-05-10 | 中测智联(深圳)科技有限公司 | Auxiliary mechanical arm for development of Internet of things software and hardware |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107053145A (en) | A kind of multifunction machine mechanical gripper | |
| CN108058167A (en) | A kind of high rigidity anti-deformation fro hydraulic driving machinery arm | |
| CN209442260U (en) | A kind of laminator feeding manipulator | |
| CN207087904U (en) | A kind of safety robot tool | |
| CN107498539A (en) | A kind of asymmetric double robot arm device | |
| CN107150338A (en) | Hydraulic pipeline structure and multiple degrees of freedom hydraulic manipulator | |
| CN107584235A (en) | A kind of high-precision Automobile Welding robot | |
| CN208812120U (en) | A kind of chucking power adjustable six degree of freedom haul robot | |
| CN208812124U (en) | A kind of elastic pick device of industrial automation assembly line | |
| CN206899228U (en) | A kind of multifunction machine mechanical gripper | |
| CN203738810U (en) | Variable-configuration multi-capturing-state mechanical hand claw | |
| CN206605514U (en) | A kind of novel steering engine drive-type mechanical grip device | |
| CN209111069U (en) | A kind of machining rotary machine hand | |
| CN205552556U (en) | High efficiency electric manipulator | |
| CN205521398U (en) | Multi -freedom -degree manipulator | |
| CN201752918U (en) | Rotary material fetching and unloading manipulator | |
| CN210683148U (en) | Rotary pneumatic claw | |
| RU2461182C1 (en) | Recuperative hydraulic gear of wood manipulator | |
| CN201824113U (en) | Fast drill rod assembling and disassembling mechanical arm of jumbolter | |
| CN207172062U (en) | A kind of asymmetric double robot arm device | |
| CN207656716U (en) | A kind of novel catching robot | |
| CN207014363U (en) | A kind of automobile fixture manipulator | |
| CN204450535U (en) | A kind of multiple degrees of freedom hydraulic mechanical arm | |
| CN205533466U (en) | Energy storage assist drive device of robot | |
| CN103831836A (en) | Structure-changeable multi-gripping-status manipulator claw |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170818 |