CN107116569A - A kind of robot manipulator structure with strongly-adaptive ability - Google Patents
A kind of robot manipulator structure with strongly-adaptive ability Download PDFInfo
- Publication number
- CN107116569A CN107116569A CN201710393487.8A CN201710393487A CN107116569A CN 107116569 A CN107116569 A CN 107116569A CN 201710393487 A CN201710393487 A CN 201710393487A CN 107116569 A CN107116569 A CN 107116569A
- Authority
- CN
- China
- Prior art keywords
- gripping block
- mechanical arm
- strongly
- robot manipulator
- adaptive ability
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/043—Construction of the grippers
Abstract
The invention discloses a kind of robot manipulator structure with strongly-adaptive ability, including mechanical arm and gripping block, pinching end and the gripping block of mechanical arm are hinged, and form L-type structure.The manipulator can realize automatic compensation clamping force in case of wearing, prevent part from occurring getting rid of situation about falling in process, it is ensured that the security of process and the unnecessary waste of reduction；Occur clamping deformation prevented also from due to the excessive part of lathe pressure simultaneously, can effectively ensure that the machining accuracy of part.
Description
Technical field
The present invention relates to machining technique field, specifically a kind of robot manipulator structure with strongly-adaptive ability.
Background technology
As production automation degree is improved, manipulator is applied in production and processing to improve production effect by increasing
Rate and reduction labor intensity.But in use, manipulator can be with increase and the deflection increase for clamping surface wear
Cause crawl part ability to decline, the situation that part falls occur, so not only result in part waste, and have serious
Potential safety hazard.If only improving lathe pressure (in the range of pressure permission), it can not only effectively improve in this case
Grasping skill, but also part can be made to occur clamping deformation, processing error is caused, product quality is influenceed.
The content of the invention
In order to ensure that manipulator still is able to keep effective clamping force, raising machining accuracy and processing in case of wearing
There is provided a kind of robot manipulator structure with strongly-adaptive ability for security.The manipulator can be realized certainly in case of wearing
Dynamic compensation clamping force, prevents part from occurring getting rid of situation about falling in process, it is ensured that the security of process and reduction are not
It is necessary to waste；Occur clamping deformation prevented also from due to the excessive part of lathe pressure simultaneously, can effectively ensure that the processing of part
Precision.
To achieve the above object, the present invention uses following technical scheme：
A kind of robot manipulator structure with strongly-adaptive ability, including mechanical arm and gripping block, the clamping of mechanical arm
End is hinged with gripping block, forms L-type structure.
Described gripping block bottom is provided with groove, and mechanical arm is L-type, and the pinching end of mechanical arm is arranged on gripping block
Groove in, and pass through through mechanical arm and gripping block pin connect.
Described pin two ends are fixed by screw.
Gap is left in the pinching end of described mechanical arm and the groove both sides of gripping block and top, and gripping block can be around pin
Son is rotated.
It is full globoidal structure that described gripping block, which clamps face, and gripping block cambered surface end protrudes the pinching end one of mechanical arm
Set a distance.
The present invention compared with prior art, with advantages below：
A kind of new robot manipulator structure of the present invention, during automated production, it is ensured that situation of the manipulator in abrasion
Under still be able to keep effective clamping force, improve machining accuracy and process safety, the manipulator can be in case of wearing
By the automatic compensation clamping force of locating piece realization being hinged, as effect contact point changes, gripping block can be around pin certainly
Row is rotated (within the specific limits), the loss of clamping force can be compensated automatically, it is ensured that effective clamping of part.Prevent part in processing
During there is getting rid of situation about falling, it is ensured that the security of process and reduce unnecessary waste；Simultaneously prevented also from due to
Clamping deformation occurs for the excessive part of lathe pressure, can effectively ensure that the machining accuracy of part.
Further, the two ends of pin are blocked to prevent that pin comes off in use with screw.
Further, gap cooperation is carried out by slot structure between gripping block and mechanical arm, this gap is used for controlling to clamp
Amount of spin during block adjust automatically.
Further, it is full globoidal structure that described gripping block, which clamps face, and gripping block cambered surface end protrudes mechanical arm
Pinching end certain distance.While Clamp blocks are ensured, increase steps up the contact area in face.
Brief description of the drawings
Fig. 1 is the robot manipulator structure front view with strongly-adaptive ability；
Fig. 2 is the robot manipulator structure right view with strongly-adaptive ability；
Fig. 3 is the use state figure of tool robot manipulator structure；
Wherein, 1. part to be processed；2. mechanical arm；3. locating piece；4. screw；5. pin.
Embodiment
The present invention is described in detail below in conjunction with the accompanying drawings：
As shown in figure 1, a kind of robot manipulator structure with strongly-adaptive ability, including mechanical arm 2 and gripping block 3, machine
The pinching end of tool arm 2 is hinged with gripping block 3, forms L-type structure.Specifically, as shown in Fig. 2 the bottom of gripping block 3 be provided with it is logical
Groove, mechanical arm 2 is L-type, and the pinching end of mechanical arm 2 is arranged in the groove of gripping block 3, and by through mechanical arm 2
Connected with the pin 5 of gripping block 3.The two ends of pin 5 are fixed by screw 4.The pinching end of mechanical arm 2 and the groove of gripping block 3
Gap is left at both sides and top, and gripping block 3 can be rotated around pin 5.Gripping block 3 clamps face for full globoidal structure, and gripping block 3
Cambered surface end protrudes the pinching end certain distance of mechanical arm 2.
Mechanical arm 2 is attached by two connecting bolts and locating piece 3 with lathe, it is ensured that pinching action it is effective
Transmission.Gripping block 3 is coordinated by the groove on block with mechanical arm 2, and both mating surfaces leave certain in trench bottom
Gap；Mechanical arm 2 and gripping block 3 are subjected to gap connection with pin 5 simultaneously, it is ensured that gripping block 3 can freely turn around pin 5
Move, and pin two ends screw 4 is blocked, and prevents that pin comes off in use.
In clamping process, gripping block 3 clamps part to be processed under the drive of mechanical arm 2.When gripping block 3 occurs
When mechanically deform occur in abrasion or mechanical arm, as effect contact point changes, gripping block can voluntarily be rotated around pin
(within the specific limits) loss of clamping force, can be compensated automatically, it is ensured that effective clamping of part.
When manipulator is as an overall structure, when contact surface abrasion or support arm 2 deform, it is necessary to by manipulator
It is overall to be changed, and without flexibility.It is now by mechanical arm 2 and the two parts of gripping block 3 by manipulator design
Composition, mechanical arm 2 plays transmission motion and support gripping block 3；Gripping block 3 is used for directly contacting with part, in machinery
The lower holding parts 1 of the motion of arm 2.It can not only improve the flexibility that manipulator is used, and can realize the replacing of section components,
It is cost-effective.
With reference to Fig. 3, manipulator causes crawl as the increase and deflection that clamp surface wear increase in use
Part ability declines, without adjust automatically clamping force function, the manipulator that can only more renew.Now by mechanical arm 2 and clamping
Block 3 is attached using cylindrical pin 5, and pin 5 can be rotated freely in pin-and-hole, and the two ends screw 4 of pin is blocked
To prevent that pin comes off in use.Gap cooperation is carried out by slot structure between gripping block 3 and mechanical arm 2, around here
Gap is used for controlling amount of spin during gripping block adjust automatically.When the clamping face generation abrasion of gripping block 3 or mechanical arm become
During shape, with the change of acting points by clamping force, gripping block 3 can be rotated voluntarily around pin, automatic compensation abrasion and machine
The clamping force loss that tool Zona transformans comes, it is ensured that effective chucking power.On the one hand this structure greatly prolongs the life-span of manipulator, separately
On the one hand product quality is also preferably ensure that, improves the security performance of process.
More than, only presently preferred embodiments of the present invention is not limited only to the practical range of the present invention, all according to the scope of the invention
The equivalence changes done of content and modification, all should be the technology category of the present invention.
Claims (5)
1. a kind of robot manipulator structure with strongly-adaptive ability, it is characterised in that：Including mechanical arm (2) and gripping block (3),
The pinching end of mechanical arm (2) is hinged to form L-type structure with gripping block (3).
2. the robot manipulator structure according to claim 1 with strongly-adaptive ability, it is characterised in that：Described gripping block
(3) bottom is provided with groove, and mechanical arm (2) is L-type, and the pinching end of mechanical arm (2) is arranged on the groove of gripping block (3)
It is interior, and connected by the pin (5) through mechanical arm (2) and gripping block (3).
3. the robot manipulator structure according to claim 1 with strongly-adaptive ability, it is characterised in that：Described pin
(5) two ends are fixed by screw (4).
4. the robot manipulator structure according to claim 1 with strongly-adaptive ability, it is characterised in that：Described manipulator
The pinching end of arm (2) leaves gap with the groove both sides of gripping block (3) and top, and gripping block (3) can be rotated around pin (5).
5. the robot manipulator structure according to claim 1 with strongly-adaptive ability, it is characterised in that：Described gripping block
(3) it is full globoidal structure to clamp face, and gripping block (3) cambered surface end protrudes the pinching end of mechanical arm (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710393487.8A CN107116569A (en) | 2017-05-27 | 2017-05-27 | A kind of robot manipulator structure with strongly-adaptive ability |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710393487.8A CN107116569A (en) | 2017-05-27 | 2017-05-27 | A kind of robot manipulator structure with strongly-adaptive ability |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107116569A true CN107116569A (en) | 2017-09-01 |
Family
ID=59728698
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710393487.8A Pending CN107116569A (en) | 2017-05-27 | 2017-05-27 | A kind of robot manipulator structure with strongly-adaptive ability |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107116569A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2022778C1 (en) * | 1991-04-15 | 1994-11-15 | Новочеркасский Политехнический Институт Им.Серго Орджоникидзе | Adaptive grip of manipulator's arm |
| JPH1086774A (en) * | 1996-09-19 | 1998-04-07 | Toyoda Spinning & Weaving Co Ltd | Reverse turn method of airbag and device used therefor |
| CA2367728A1 (en) * | 2001-01-16 | 2002-07-16 | Manfred Wolf | Versatile adaptable holding apparatus for holding large format workpieces |
| CN201960568U (en) * | 2010-12-10 | 2011-09-07 | 郑州新大方重工科技有限公司 | Reversible mechanical paws |
| CN203542596U (en) * | 2013-08-29 | 2014-04-16 | 东莞市新泽谷机械制造股份有限公司 | Clamping frame device for board conveying mechanism |
| CN105459146A (en) * | 2015-12-26 | 2016-04-06 | 山东中际电工装备股份有限公司 | Clamp fast-replacement mechanism |
| CN205309307U (en) * | 2016-01-22 | 2016-06-15 | 瑞智(青岛)精密机电有限公司 | A material loading clamping structure for compressor cylinder body |
| CN205703465U (en) * | 2016-06-14 | 2016-11-23 | 慈溪市小旋风数控机械有限公司 | A kind of mechanical tinea manus pawl for Full-automatic numerical-control lathe |
| CN206105841U (en) * | 2016-09-29 | 2017-04-19 | 广东顺德天太机器人技术有限公司 | Industrial robot |
-
2017
- 2017-05-27 CN CN201710393487.8A patent/CN107116569A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2022778C1 (en) * | 1991-04-15 | 1994-11-15 | Новочеркасский Политехнический Институт Им.Серго Орджоникидзе | Adaptive grip of manipulator's arm |
| JPH1086774A (en) * | 1996-09-19 | 1998-04-07 | Toyoda Spinning & Weaving Co Ltd | Reverse turn method of airbag and device used therefor |
| CA2367728A1 (en) * | 2001-01-16 | 2002-07-16 | Manfred Wolf | Versatile adaptable holding apparatus for holding large format workpieces |
| CN201960568U (en) * | 2010-12-10 | 2011-09-07 | 郑州新大方重工科技有限公司 | Reversible mechanical paws |
| CN203542596U (en) * | 2013-08-29 | 2014-04-16 | 东莞市新泽谷机械制造股份有限公司 | Clamping frame device for board conveying mechanism |
| CN105459146A (en) * | 2015-12-26 | 2016-04-06 | 山东中际电工装备股份有限公司 | Clamp fast-replacement mechanism |
| CN205309307U (en) * | 2016-01-22 | 2016-06-15 | 瑞智(青岛)精密机电有限公司 | A material loading clamping structure for compressor cylinder body |
| CN205703465U (en) * | 2016-06-14 | 2016-11-23 | 慈溪市小旋风数控机械有限公司 | A kind of mechanical tinea manus pawl for Full-automatic numerical-control lathe |
| CN206105841U (en) * | 2016-09-29 | 2017-04-19 | 广东顺德天太机器人技术有限公司 | Industrial robot |
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