CN107309890A - A kind of manipulator clamping mechanism of robot - Google Patents

A kind of manipulator clamping mechanism of robot Download PDF

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Publication number
CN107309890A
CN107309890A CN201710629802.2A CN201710629802A CN107309890A CN 107309890 A CN107309890 A CN 107309890A CN 201710629802 A CN201710629802 A CN 201710629802A CN 107309890 A CN107309890 A CN 107309890A
Authority
CN
China
Prior art keywords
rocker arm
motion rocker
arm
robot
fixed support
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
Application number
CN201710629802.2A
Other languages
Chinese (zh)
Inventor
强俊
汪军
窦易文
章平
刘涛
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Anhui Polytechnic University
Original Assignee
Anhui Polytechnic University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Anhui Polytechnic University filed Critical Anhui Polytechnic University
Priority to CN201710629802.2A priority Critical patent/CN107309890A/en
Publication of CN107309890A publication Critical patent/CN107309890A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/02Gripping heads and other end effectors servo-actuated
    • B25J15/0206Gripping heads and other end effectors servo-actuated comprising articulated grippers

Abstract

The invention discloses a kind of manipulator clamping mechanism of robot, including fixed support, it is hollow structure inside the fixed support, the support bracket fastened side is mounted with cylinder, the fixed support is internally provided with cylinder piston rod and transfer block, driving rocking arm is connected with the transfer block, the driving rocking arm is made up of two structure identical rocking arms, and one end of the rocking arm is arranged in transfer block by rotating shaft connected symmetrical dendrimer, the support bracket fastened both sides are symmetrically connected with from one end of motion rocker arm, it is described to be made up of from motion rocker arm principal and subordinate's motion rocker arm and secondary driven rocking arm, the other end of the rocking arm is connected on principal and subordinate's motion rocker arm by rotating shaft, it is described to be connected with clamper from the other end of motion rocker arm, the present invention has function of the flexibly clamping with unclamping object, improve production efficiency, reduce production cost, effectively improve product quality simultaneously.

Description

A kind of manipulator clamping mechanism of robot
Technical field
Field, the manipulator clamping mechanism of specially a kind of robot are manufactured the present invention relates to manipulator.
Background technology
With the continuous improvement of production automation level, manipulator is increasingly widely used in each production field, machine Tool hand is the automatic pilot that object is captured, carried by fixed routine, and in high temperature, high pressure, dust, noise and is carried The artificial inoperable occasion such as radioactivity and pollution, application it is more extensive.Also there is faster development in recent years in China, and And obtain certain effect, paid attention to by mechanical industry, using manipulator can save manually, improve efficiency, reduction production Cost, while effectively improve product quality and production security, Patent No. 201420261491.0, patent name is a kind of machine Tool hand clamping device invention by motor, hydraulic cylinder provide power can free control machinery hand clamping and release, driving tie Structure is compact to can be achieved larger endurance, can clamp less object, but this manipulator clamping mechanism has one substantially Shortcoming, the driving rocking arm in mechanism is fixed structure, non-movable, retained part inconvenient activity when causing robot work, Object underaction is clamped, production efficiency is influenceed, in view of problem above is, it is necessary to design a kind of flexible manipulator folder of clamping object Hold mechanism.
The content of the invention
In order to overcome the shortcomings of prior art, the present invention provides a kind of manipulator clamping mechanism of robot, realizes Manipulator clamping mechanism has function of the flexibly clamping with unclamping object, improves production efficiency, reduction production cost, while effectively Improve product quality.
The technical solution adopted for the present invention to solve the technical problems is:A kind of manipulator clamping mechanism of robot, bag It is hollow structure to include inside fixed support, the fixed support, and the support bracket fastened side is mounted with cylinder, described solid Fixed rack, which is internally provided with cylinder piston rod and transfer block, the transfer block, is connected with driving rocking arm, the driving rocking arm by Two structure identical rocking arms are constituted, and one end of the rocking arm is arranged in transfer block by rotating shaft connected symmetrical dendrimer, described solid The both sides of fixed rack are symmetrically connected with from one end of motion rocker arm, it is described from motion rocker arm by principal and subordinate's motion rocker arm and secondary driven rocking arm set Into the other end of the rocking arm is connected on principal and subordinate's motion rocker arm by rotating shaft, described to be connected with clamping from the other end of motion rocker arm Device.
As a kind of preferred technical scheme of the present invention, the transfer block, which is connected through a screw thread, is fixed on cylinder piston rod On.
As a kind of preferred technical scheme of the present invention, the cylinder piston rod is located at fixed support hollow structure inside On horizontal center line.
As a kind of preferred technical scheme of the present invention, principal and subordinate's motion rocker arm and pair have identical knot from motion rocker arm Structure, and be parallel to each other.
As a kind of preferred technical scheme of the present invention, principal and subordinate's motion rocker arm and pair are from one end of motion rocker arm by turning Axle is connected on fixed support, and the other end is connected on clamper by rotating shaft.
As a kind of preferred technical scheme of the present invention, the quantity of the clamper is 2, and be symmetricly set on two from On motion rocker arm.
As a kind of preferred technical scheme of the present invention, the scope that angular dimension is formed between the rocking arm is 15 degree to 120 Degree.
As a kind of preferred technical scheme of the present invention, it is described from formed between motion rocker arm the scope of angular dimension for 0 degree to 20 degree.
Compared with prior art, the beneficial effects of the invention are as follows:Drive rocking arm to use mobilizable structure in the present invention, drive Two rocking arms of motion rocker arm are fixed between transfer block and principal and subordinate's motion rocker arm by rotating shaft, form linkage, manipulator clamping When mechanism works, by two rocking arms along axis of rotation, drive from motion rocker arm and rotate, realize flexible clamping and the pine of retained part Open, improve production efficiency, reduction production cost, while effectively improving product quality.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention;
In figure:1- fixed supports;2- cylinders;3- cylinder piston rods;4- transfer blocks;5- drives rocking arm;6- rocking arms;7- is driven Rocking arm;8- principal and subordinate's motion rocker arms;9- pairs are from motion rocker arm;10- clampers.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made Embodiment, belongs to the scope of protection of the invention.
The explanation of following embodiment is refer to the attached drawing, can be to the specific embodiment implemented to the example present invention. Direction and position term that the present invention is previously mentioned, such as " on ", " in ", " under ", "front", "rear", "left", "right", " interior ", " Outside ", " side " etc., is only the direction and position with reference to annexed drawings.Therefore, the direction and position term used is to illustrate And understand the present invention, and it is not used to the limitation present invention.
Embodiment:
As shown in figure 1, a kind of technical solution of present invention offer, a kind of manipulator clamping mechanism of robot, including Fixed support 1, the inside of fixed support 1 is for hollow structure there is provided cylinder piston rod 3 and transfer block 4 in manipulator clamping machine Reciprocating space when structure works, the side of the fixed support 1 is mounted with cylinder 2, the drive cylinder piston rod of cylinder 2 3 is flexible there is provided the clamping of clamper 10 and the power unclamped, and the fixed support 1 is internally provided with cylinder piston rod 3 and transfer block 4, the cylinder piston rod 3 is located on the horizontal center line of the hollow structure inside of fixed support 1, and 4 pieces of the switching passes through screw thread It is fastened on cylinder piston rod 3, by being connected with driving Rocker arm 5 in the transfer block 4, the driving Rocker arm 5 is by two Structure identical rocking arm 6 is constituted, and the rocking arm 6 is arranged in transfer block 4 by rotating shaft connected symmetrical dendrimer, the fixed support 1 Both sides be symmetrically connected with one end from motion rocker arm 7, the other end from motion rocker arm 7 is connected with clamper 10, the clamping The quantity of device is 2, and is symmetricly set on two from motion rocker arm 7, and the scope that angular dimension is formed between the rocking arm 6 is 15 degree To 120 degree, described is 0 degree to 20 degree from the scope of angular dimension is formed between motion rocker arm 7, and two 6 angular dimensions of rocking arm change Become, by driving Rocker arm 5 to make to change from 7 angular dimensions of motion rocker arm, distance changes between two clampers 10, it is real Existing clamping and release of the clamper 10 to object, it is described to be made up of from motion rocker arm 7 principal and subordinate's motion rocker arm 8 and pair from motion rocker arm 9, it is described Principal and subordinate's motion rocker arm 8 and pair are fixed on fixed support 1 from one end of motion rocker arm 9 by rotating shaft, and the other end is connected by rotating shaft It is connected on clamper 10, principal and subordinate's motion rocker arm 8 and pair have identical structure from motion rocker arm 9, and are parallel to each other, from motion rocker arm 7 when rotating, principal and subordinate's motion rocker arm 8 and it is secondary from the two ends of motion rocker arm 9 apart from constant, can keeping parallelism shape between two clampers 10 State, to grip object, the other end of the rocking arm 6 is connected on principal and subordinate's motion rocker arm 8 by rotating shaft, can be by cylinder piston rod 3 The flexible power that produces drives clamper 10 to move by driving Rocker arm 5 to be transferred to from motion rocker arm 7.
The course of work of the present invention is as follows, and cylinder 2 provides the power that cylinder piston rod 3 is retracted, and then promotes driving Rocker arm 5 With from motion rocker arm 7 along axis of rotation, two drive 10 devices of clamping close to each other from motion rocker arm 7 as 6 angles of rocking arm diminish, complete Into clamping work;Cylinder 2 provides the power that cylinder piston rod 3 stretches out, and then 6 angles of rocking arm is become big, drives clamper 10 Motion, increases the spacing of clamper 10, completes relieving process.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power Profit is required rather than described above is limited, it is intended that all in the implication and scope of the equivalency of claim by falling Change is included in the present invention.Any reference in claim should not be considered as to the claim involved by limitation.

Claims (8)

1. a kind of manipulator clamping mechanism of robot, including fixed support (1), it is characterised in that in the fixed support (1) Portion is hollow structure, and the side of the fixed support (1) is mounted with cylinder (2), and the fixed support (1) is internally provided with Driving rocking arm (5) is connected with cylinder piston rod (3) and transfer block (4), the transfer block (4), the driving rocking arm (5) is by two Individual structure identical rocking arm (6) is constituted, and one end of the rocking arm (6) is arranged in transfer block (4) by rotating shaft connected symmetrical dendrimer, The both sides of the fixed support (1) are symmetrically connected with one end from motion rocker arm (7), it is described from motion rocker arm (7) by principal and subordinate's motion rocker arm (8) and secondary from motion rocker arm (9) composition, the other end of the rocking arm (6) is connected on principal and subordinate's motion rocker arm (8) by rotating shaft, described Clamper (10) is connected with from the other end of motion rocker arm (7).
2. a kind of manipulator clamping mechanism of robot according to claim 1, it is characterised in that:The transfer block (4) It is connected through a screw thread and is fixed on cylinder piston rod (3).
3. a kind of manipulator clamping mechanism of robot according to claim 1, it is characterised in that:The cylinder piston rod (3) on the horizontal center line of fixed support (1) hollow structure inside.
4. a kind of manipulator clamping mechanism of robot according to claim 1, it is characterised in that:Principal and subordinate's motion rocker arm (8) and it is secondary there is identical structure from motion rocker arm (9), and be parallel to each other.
5. a kind of manipulator clamping mechanism of robot according to claim 1, it is characterised in that:Principal and subordinate's motion rocker arm (8) it is connected to pair from one end of motion rocker arm (9) by rotating shaft on fixed support (1), the other end is connected to by rotating shaft On clamper (10).
6. a kind of manipulator clamping mechanism of robot according to claim 1, it is characterised in that:The clamper (10) Quantity it is individual for (2), and be symmetricly set on two from motion rocker arm (7).
7. a kind of manipulator clamping mechanism of robot according to claim 1, it is characterised in that:Between the rocking arm (6) The scope for forming angular dimension is 15 degree to 120 degree.
8. a kind of manipulator clamping mechanism of robot according to claim 1, it is characterised in that:It is described from motion rocker arm (7) scope that angular dimension is formed between is 0 degree to 20 degree.
CN201710629802.2A 2017-07-27 2017-07-27 A kind of manipulator clamping mechanism of robot Pending CN107309890A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710629802.2A CN107309890A (en) 2017-07-27 2017-07-27 A kind of manipulator clamping mechanism of robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710629802.2A CN107309890A (en) 2017-07-27 2017-07-27 A kind of manipulator clamping mechanism of robot

Publications (1)

Publication Number Publication Date
CN107309890A true CN107309890A (en) 2017-11-03

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108714910A (en) * 2018-06-08 2018-10-30 哈尔滨工业大学 Using the end gripper of spatial linkage
CN108724230A (en) * 2018-06-08 2018-11-02 滁州卷烟材料厂 A kind of robot mechanical arm for carrying cigarette
CN108792588A (en) * 2018-05-04 2018-11-13 旌德县瀚海星云智能化技术研发有限公司 A kind of manipulator for the folded packet of feed
CN110730707A (en) * 2018-08-22 2020-01-24 上海非夕机器人科技有限公司 Robot and gripper with synthetic fiber glue
WO2020038418A1 (en) * 2018-08-22 2020-02-27 Shanghai Flexiv Robotics Technology Co., Ltd. Robot and gripper with synthetic fibrillar adhesive

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU1337251A1 (en) * 1985-01-07 1987-09-15 Экспериментальный научно-исследовательский институт металлорежущих станков Gripping device
CN2577272Y (en) * 2002-03-31 2003-10-01 合肥安达数控技术有限责任公司 Manipulator for testing ignition device of motor vehicle
CN102009411A (en) * 2010-11-11 2011-04-13 高付生 Improved manipulator paw
CN102390580A (en) * 2011-11-08 2012-03-28 杭州娃哈哈集团有限公司 Grabber
CN203818153U (en) * 2014-05-21 2014-09-10 张文海 Manipulator clamping mechanism

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU1337251A1 (en) * 1985-01-07 1987-09-15 Экспериментальный научно-исследовательский институт металлорежущих станков Gripping device
CN2577272Y (en) * 2002-03-31 2003-10-01 合肥安达数控技术有限责任公司 Manipulator for testing ignition device of motor vehicle
CN102009411A (en) * 2010-11-11 2011-04-13 高付生 Improved manipulator paw
CN102390580A (en) * 2011-11-08 2012-03-28 杭州娃哈哈集团有限公司 Grabber
CN203818153U (en) * 2014-05-21 2014-09-10 张文海 Manipulator clamping mechanism

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108792588A (en) * 2018-05-04 2018-11-13 旌德县瀚海星云智能化技术研发有限公司 A kind of manipulator for the folded packet of feed
CN108714910A (en) * 2018-06-08 2018-10-30 哈尔滨工业大学 Using the end gripper of spatial linkage
CN108724230A (en) * 2018-06-08 2018-11-02 滁州卷烟材料厂 A kind of robot mechanical arm for carrying cigarette
CN110730707A (en) * 2018-08-22 2020-01-24 上海非夕机器人科技有限公司 Robot and gripper with synthetic fiber glue
WO2020038418A1 (en) * 2018-08-22 2020-02-27 Shanghai Flexiv Robotics Technology Co., Ltd. Robot and gripper with synthetic fibrillar adhesive
CN110730707B (en) * 2018-08-22 2020-11-10 上海非夕机器人科技有限公司 Robot and gripper with synthetic fiber glue
US10933535B2 (en) 2018-08-22 2021-03-02 Flexiv Ltd. Robot and gripper with synthetic fibrillar adhesive

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