CN107081782A - A kind of absorption type material taking hand of mechanical arm tail end - Google Patents
A kind of absorption type material taking hand of mechanical arm tail end Download PDFInfo
- Publication number
- CN107081782A CN107081782A CN201710481921.8A CN201710481921A CN107081782A CN 107081782 A CN107081782 A CN 107081782A CN 201710481921 A CN201710481921 A CN 201710481921A CN 107081782 A CN107081782 A CN 107081782A
- Authority
- CN
- China
- Prior art keywords
- rubber sucker
- connecting shaft
- outer rubber
- cylinder hollow
- sucker
- 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- Withdrawn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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0625—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with a valve
- B25J15/0633—Air-flow-actuated valves
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of absorption type material taking hand of mechanical arm tail end, including connecting shaft, pull bar, support tube, spring, outer rubber sucker, inner rubber sucker, two-stage cylinder hollow part is provided with the axis direction of connecting pole, the cylinder hollow section diameter in upside is less than the cylinder hollow part of downside；Pull bar has a diameter larger than the diameter of support tube inwall into cylinder；Spring is arranged between pull bar and support tube；Outer rubber sucker is in horn-like, and osculum side is socketed in the lower end outside of connecting shaft, and outer rubber sucker is by the cylinder hollow portion envelops on the downside of connecting shaft；Inner rubber sucker is arranged on the inside of outer rubber sucker；Outer rubber sucker is parallel with the bottom margin of inner rubber sucker, and outer rubber sucker bottom margin is higher than inner rubber sucker bottom margin.Two suckers of outer rubber sucker and inner rubber sucker are attached to body surface by the present invention, are increased adhesive force, are reduced spoilage of the object in handling process.
Description
Technical field
The present invention relates to industrial machinery, and in particular to a kind of absorption type material taking hand of mechanical arm tail end.
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.In in life, section now
Under the progress of skill day crescent benefit, robot and the arm maximum difference for having the mankind are that flexibility ratio and resistance to dynamics.
Be exactly manipulator sharpest edges it is recursive do it is same action machinery will not always feel tired under normal circumstances！Machinery
The application of arm also will more and more extensively, and manipulator is a kind of high-tech automatic producing device that recent decades grow up,
The ability fulfiled assignment in the accuracy and environment of operation.However, material brittle smooth for surface, the object of heavier mass
Carry, be extremely difficult to require using general manipulator, in order to realize safe and efficient carrying, the crawl work of such object,
Captured using absorption type manipulator, but the absorption affinity of absorption type manipulator is smaller, adsorbed state is difficult long-term holding, this
Increase the breakage rate for being handled upside down object in handling process.
The content of the invention
The technical problems to be solved by the invention are that the absorption affinity of absorption type manipulator is smaller, and adsorbed state is difficult long-term guarantor
Hold, it is therefore intended that a kind of absorption type material taking hand of mechanical arm tail end is provided, lift the absorption dynamics of absorption type manipulator, increase is inhaled
The persistence of attached hand.
The present invention is achieved through the following technical solutions：
A kind of absorption type material taking hand of mechanical arm tail end, including connecting shaft, in addition to pull bar, support tube, spring, outside rubber
Glue sucker, inner rubber sucker, the connecting shaft are cylindrical, and two-stage cylinder hollow portion is provided with the axis direction of connecting pole
Point, the cylinder hollow section diameter in upside is less than the cylinder hollow part of downside；The pull bar lower end is pierced into connecting shaft
In the cylinder hollow part of side, and the surface of the cylinder hollow part of pull bar and upside is brought into close contact；The support tube is set
In the cylinder hollow part of downside, and the outer wall of support tube is not contacted with the inwall of the cylinder hollow part of downside；It is described to draw
Bar has a diameter larger than the diameter of support tube inwall into cylinder；The spring is arranged between pull bar and support tube；The outside rubber
Glue sucker is in horn-like, and osculum side is socketed in the lower end outside of connecting shaft, and outer rubber sucker is by the circle on the downside of connecting shaft
Post hollow parts are wrapped up；The inner rubber sucker is arranged on the inside of outer rubber sucker；Outer rubber sucker and inner side rubber
The bottom margin of glue sucker is parallel, and outer rubber sucker bottom margin is higher than inner rubber sucker bottom margin.
In the present invention, outer rubber sucker is attached to the top for being handled upside down object, pull bar is pressed down against.When pull bar is slided
Space on the downside of position to below air duct extended line, pull bar between outer rubber sucker forms semi-enclosed space, draws
Bar continues slide downward, will outwards extrude the air in semi-enclosed space, the absorption between outer rubber sucker and object
Area is increasing, and its adhesive force is also increasingly stronger, due to being isolated between pull bar and support tube by spring, pull bar slide downward
Distance be limited, and spring also increases the cushion effect of pull bar, it is to avoid pull bar slides too fast and shortens associated components
Service life；When pull bar continues slide downward, inner rubber sucker is contacted with body surface, is continued the sky in semi-enclosed space
Air pressure goes out, and continues to increase the adhesive force between inner rubber sucker and object, thus by outer rubber sucker and inner rubber
Two suckers of sucker are attached to body surface, increase adhesive force, reduce spoilage of the object in handling process；Work as suction
It is fixed between disk and object to complete, then connecting shaft is lifted, by object transport.When needing to depart from object from disk, it will draw
Bar is up-shifted to more than air duct, and air is communicated with confined space, so as to lose pressure difference, object is discharged.
Further, outer rubber sucker is different with the material that inner rubber sucker is used.Due to the material of carry an object
Difference, different carrying effects can be reached using different suckers, therefore, and outer rubber sucker and inner rubber sucker be not using
Same material, can cause manipulator to capture the object of unlike material.
Further, outer rubber sucker uses polyurethane, and inner rubber sucker uses silicon rubber.Outer rubber sucker ratio
Inner rubber sucker is more vulnerable to the influence of external environment, therefore uses this durable material of polyurethane, the silicon that inner side is used
The adhesive force of the rubber object rougher to surface is stronger, further the attachment dynamics of increase sucker.
Further, the absorption type material taking hand of a kind of mechanical arm tail end, in addition to set fishplate bar, the set fishplate bar is provided with many
Mounting groove is provided with the outside of individual hole, the connecting shaft, the borehole jack of the set fishplate bar is connected in the mounting groove on the outside of connecting shaft.Use
Cover fishplate bar, multiple manipulators are brought together object are captured, can with elevating mechanism hand crawl object practicality with
And stability.
The present invention compared with prior art, has the following advantages and advantages：
1st, two suckers of outer rubber sucker and inner rubber sucker are attached to body surface by the present invention, are increased attached
Put forth effort, reduce spoilage of the object in handling process；
2nd, multiple manipulators are brought together and object are captured by the present invention using set fishplate bar, can be with elevating mechanism
Hand captures the practicality and stability of object.
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding the embodiment of the present invention, constitutes one of the application
Point, do not constitute the restriction to the embodiment of the present invention.In the accompanying drawings：
Fig. 1 is schematic structural view of the invention；
Fig. 2 covers the upward view that sucker is provided with fishplate bar for the present invention.
Mark and corresponding parts title in accompanying drawing：
1- pull bars, 2- air ducts, 3- support tubes, 4- springs, 5- mounting grooves, 6- outer rubber suckers, 7- vacuum chambers, 8-
Inner rubber sucker.
Embodiment
For the object, technical solutions and advantages of the present invention are more clearly understood, with reference to embodiment and accompanying drawing, to this
Invention is described in further detail, and exemplary embodiment and its explanation of the invention is only used for explaining the present invention, does not make
For limitation of the invention.
Embodiment
As shown in figure 1, a kind of absorption type material taking hand of mechanical arm tail end, including connecting shaft, in addition to pull bar 1, support tube
3rd, spring 4, outer rubber sucker 6, inner rubber sucker 8, the connecting shaft are cylindrical, are set on the axis direction of connecting pole
There is two-stage cylinder hollow part, the cylinder hollow section diameter in upside is less than the cylinder hollow part of downside；The pull bar 1
Lower end is pierced into the cylinder hollow part on the upside of connecting shaft, and pull bar 1 and the surface of the cylinder hollow part of upside are closely pasted
Close；The support tube 3 is arranged in the cylinder hollow part of downside, and outer wall and the cylinder hollow part of downside of support tube 3
Inwall do not contact；The pull bar 1 has a diameter larger than the diameter of the inwall of support tube 3 into cylinder；The spring 4 is arranged on pull bar 1
Between support tube 3；The outer rubber sucker 6 is in horn-like, and osculum side is socketed in the lower end outside of connecting shaft, and outside
Rubber suction cups 6 is by the cylinder hollow portion envelops on the downside of connecting shaft；The inner rubber sucker 8 is arranged on outer rubber sucker 6
Inside；Outer rubber sucker 6 is parallel with the bottom margin of inner rubber sucker 8, and outer rubber sucker (6) bottom margin is high
In the bottom margin of inner rubber sucker 8.
Outer rubber sucker 6 is different with the material that inner rubber sucker 8 is used.
Outer rubber sucker 6 uses polyurethane, and inner rubber sucker 8 uses silicon rubber.
Embodiment 2
The present embodiment and the difference of embodiment 1 are, are also provided with covering fishplate bar, as shown in Fig. 2 the set fishplate bar is provided with
Mounting groove 5 is provided with the outside of multiple holes, the connecting shaft, the borehole jack of the set fishplate bar is connected in the mounting groove 5 on the outside of connecting shaft.
Multiple absorption type manipulators are set on set fishplate bar, and the sucker material that each manipulator is used can be different, so
The variation that modern industry carries material can be met.
Above-described embodiment, has been carried out further to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail, should be understood that the embodiment that the foregoing is only the present invention, be not intended to limit the present invention
Protection domain, within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc. all should be included
Within protection scope of the present invention.
Claims (4)
1. a kind of absorption type material taking hand of mechanical arm tail end, including connecting shaft, it is characterised in that also including pull bar (1), support tube
(3), spring (4), outer rubber sucker (6), inner rubber sucker (8), the connecting shaft are cylindrical, the axis side of connecting pole
Two-stage cylinder hollow part is set up, the cylinder hollow section diameter in upside is less than the cylinder hollow part of downside；
Pull bar (1) lower end is pierced into the cylinder hollow part on the upside of connecting shaft, and pull bar (1) and the cylinder hollow part of upside
Surface be brought into close contact；The support tube (3) is arranged in the cylinder hollow part of downside, and the outer wall of support tube (3) is with
The inwall of the cylinder hollow part of side is not contacted；The pull bar (1) has a diameter larger than the diameter of support tube (3) inwall into cylinder；
The spring (4) is arranged between pull bar (1) and support tube (3)；The outer rubber sucker (6) is in horn-like, osculum side
It is socketed in the lower end outside of connecting shaft, and outer rubber sucker (6) is by the cylinder hollow portion envelops on the downside of connecting shaft；In described
Side rubber suction cups (8) is arranged on the inside of outer rubber sucker (6)；The bottom of outer rubber sucker (6) and inner rubber sucker (8)
Portion's sides aligned parallel, and outer rubber sucker (6) bottom margin is higher than inner rubber sucker (8) bottom margin.
2. a kind of absorption type material taking hand of mechanical arm tail end according to claim 1, it is characterised in that the outer rubber
Sucker (6) is different with the material that inner rubber sucker (8) is used.
3. a kind of absorption type material taking hand of mechanical arm tail end according to claim 1, it is characterised in that the outer rubber
Sucker (6) uses polyurethane, and inner rubber sucker (8) uses silicon rubber.
4. the absorption type material taking hand of a kind of mechanical arm tail end according to claim 1, it is characterised in that also including socket
Plate, the set fishplate bar, which is provided with the outside of multiple holes, the connecting shaft, is provided with mounting groove (5), and the borehole jack of the set fishplate bar is connected on
In mounting groove (5) on the outside of connecting shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710481921.8A CN107081782A (en) | 2017-06-22 | 2017-06-22 | A kind of absorption type material taking hand of mechanical arm tail end |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710481921.8A CN107081782A (en) | 2017-06-22 | 2017-06-22 | A kind of absorption type material taking hand of mechanical arm tail end |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107081782A true CN107081782A (en) | 2017-08-22 |
Family
ID=59605847
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710481921.8A Withdrawn CN107081782A (en) | 2017-06-22 | 2017-06-22 | A kind of absorption type material taking hand of mechanical arm tail end |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107081782A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108087413A (en) * | 2018-01-25 | 2018-05-29 | 吉林大学 | A kind of blocks rotation formula hydraulic shock-absorption Acetabula device |
| CN108214533A (en) * | 2018-02-02 | 2018-06-29 | 吉林大学 | One kind has double extrorse suckers |
| CN108715308A (en) * | 2018-07-03 | 2018-10-30 | 芜湖新世纪净化器材有限责任公司 | A kind of PP cotton filter element transport fixture |
| CN110773977A (en) * | 2019-11-11 | 2020-02-11 | 中国原子能科学研究院 | High temperature resistant sucking disc support pillar for high temperature radioactive source installation |
| CN115365409A (en) * | 2022-08-18 | 2022-11-22 | 学金汽车产品(昆山)有限公司 | Demoulding traction structure of automobile stamping die and using method thereof |
-
2017
- 2017-06-22 CN CN201710481921.8A patent/CN107081782A/en not_active Withdrawn
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108087413A (en) * | 2018-01-25 | 2018-05-29 | 吉林大学 | A kind of blocks rotation formula hydraulic shock-absorption Acetabula device |
| CN108214533A (en) * | 2018-02-02 | 2018-06-29 | 吉林大学 | One kind has double extrorse suckers |
| CN108214533B (en) * | 2018-02-02 | 2024-03-26 | 吉林大学 | Sucking disc with two-way edge |
| CN108715308A (en) * | 2018-07-03 | 2018-10-30 | 芜湖新世纪净化器材有限责任公司 | A kind of PP cotton filter element transport fixture |
| CN110773977A (en) * | 2019-11-11 | 2020-02-11 | 中国原子能科学研究院 | High temperature resistant sucking disc support pillar for high temperature radioactive source installation |
| CN115365409A (en) * | 2022-08-18 | 2022-11-22 | 学金汽车产品(昆山)有限公司 | Demoulding traction structure of automobile stamping die and using method thereof |
| CN115365409B (en) * | 2022-08-18 | 2024-06-25 | 学金汽车产品(昆山)有限公司 | Demoulding traction structure of automobile stamping die and application method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107081782A (en) | A kind of absorption type material taking hand of mechanical arm tail end | |
| KR101423362B1 (en) | Gripper, in particular a bernoulli gripper | |
| CN210704467U (en) | Vacuum chuck | |
| CN202564199U (en) | Vacuum sucking pen free from dust and for catching concentrating photovoltaic cells | |
| CN203919054U (en) | Cylinder | |
| CN110203296A (en) | A kind of curved surface is mobile to adsorb machining robot and its absorption working method | |
| CN104589239A (en) | Solar cell locating mechanism | |
| CN106671120A (en) | Pervasive modularized air-aspiration type robot gripper | |
| CN202996802U (en) | Dustproof vacuum suction pen for concentrating photovoltaic cell | |
| CN107253210A (en) | Apply the manipulator in industrial robot | |
| CN107745963A (en) | Take discharge mechanism and take discharging device | |
| WO2023207688A1 (en) | Weighing sensor assembly, tooling, manipulator and robot | |
| CN206967512U (en) | The end-effector of industrial robot | |
| CN105455722B (en) | Adsorbent equipment and the surface processing device with the adsorbent equipment | |
| CN107009382A (en) | Based on hydromechanical absorption type material taking hand | |
| CN206033009U (en) | Sucking disc and handling device | |
| CN213575110U (en) | Sucking disc for adsorbing bottle blanks | |
| CN211254938U (en) | Vacuum suction tool for falling part detection | |
| CN205406506U (en) | Solar wafer vacuum suction pen | |
| CN206795861U (en) | A kind of air-negative-pressure absorption type material taking hand | |
| CN204893989U (en) | Cylinder gold utensil | |
| CN211967563U (en) | Adsorption type mechanical arm | |
| CN210653852U (en) | Vacuum chuck device | |
| CN108214533B (en) | Sucking disc with two-way edge | |
| CN206255243U (en) | The all-in-one of patch protection sheet and patch mucous membrane paper |
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: 20170822 |